UAV Autoloader Systems and Methods

ABSTRACT

A method includes determining, by an unmanned aerial vehicle (UAV), a position of an autoloader device for the UAV; based on the determined position of the autoloader device, causing the UAV to follow a descent trajectory in which the UAV moves from a starting position to a first nudged position in order to deploy a tethered pickup component of the UAV to a payout position on an approach side of the autoloader device; deploying the tethered pickup component of the UAV to the payout position; causing the UAV to follow a side-step trajectory in which the UAV moves laterally to a second nudged position in order to cause the tethered pickup component of the UAV to engage the autoloader device; and retracting the tethered pickup component of the UAV to pick up a payload from the autoloader device.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority to U.S. Provisional Patent ApplicationNo. 63/366,114, filed Jun. 9, 2022, the contents of which areincorporated by reference.

BACKGROUND

An unmanned vehicle, which may also be referred to as an autonomousvehicle, is a vehicle capable of travel without a physically-presenthuman operator. An unmanned vehicle may operate in a remote-controlmode, in an autonomous mode, or in a partially autonomous mode.

UAVs may be used to deliver a payload to, or retrieve a payload from, anindividual or business. In some operations, once the UAV arrives at aretrieval site, the UAV may land or remain in a hover position. At thispoint, a person at the retrieval site may secure the payload to the UAVat an end of a tether attached to a winch mechanism positioned with theUAV, or to the UAV itself. For example, the payload may have a handlethat may be secured to a device at the end of the winch, or a handlethat may be secured within the UAV. However, this scenario has a numberof drawbacks. In particular, if the UAV is late for arrival at theretrieval site, the person designated for securing the payload to beretrieved by the UAV may have to wait a period of time before the UAVarrives, resulting in undesirable waiting time. Similarly, if the UAVarrives and the person designated to secure the payload to be retrievedto the UAV is delayed or fails to show up, the UAV may have to wait in ahover mode or on the ground until the designated person arrives tosecure the payload to the UAV, resulting in undesirable delay andexpenditure of energy by the UAV as the UAV waits for the designatedperson to arrive, and also resulting in undesirable delay in thesubsequent delivery of the payload at a delivery site.

As a result, it would be desirable to provide for the automated pickupof a payload by the UAV, where the UAV may automatically pick up thepayload without the need for a designated person to secure the payloadto the UAV at the retrieval site. Such automated pickup of the payloadby the UAV would advantageously eliminate the need for a designatedperson to secure the payload to the UAV and eliminate potential delaysassociated with the late arrival of the UAV or designated person at theretrieval site.

SUMMARY

The present embodiments are directed to systems and methods for payloadpickup by an unmanned aerial vehicle (UAV) from an autoloader device.

In one aspect, a method includes determining, by a UAV, a position of anautoloader device for the UAV. Based on the determined position of theautoloader device, the method includes causing the UAV to follow adescent trajectory in which the UAV moves from a starting position to afirst nudged position in order to deploy a tethered pickup component ofthe UAV to a payout position on an approach side of the autoloaderdevice. The method further includes deploying the tethered pickupcomponent of the UAV to the payout position. The method additionallyincludes causing the UAV to follow a side-step trajectory in which theUAV moves laterally to a second nudged position in order to cause thetethered pickup component of the UAV to engage the autoloader device.The method further includes retracting the tethered pickup component ofthe UAV to pick up a payload from the autoloader device.

In another aspect, a UAV is provided with a tethered pickup componentand a control system configured to perform operations. The operationsinclude determining, by the UAV, a position of an autoloader device forthe UAV. Based on the determined position of the autoloader device, theoperations include causing the UAV to follow a descent trajectory inwhich the UAV moves from a starting position to a first nudged positionin order to deploy the tethered pickup component of the UAV to a payoutposition on an approach side of the autoloader device. The operationsfurther include deploying the tethered pickup component of the UAV tothe payout position. The operations additionally include causing the UAVto follow a side-step trajectory in which the UAV moves laterally to asecond nudged position in order to cause the tethered pickup componentof the UAV to engage the autoloader device. The operations furtherinclude retracting the tethered pickup component of the UAV to pick up apayload from the autoloader device.

In a further aspect, a non-transitory computer readable medium isprovided comprising program instructions executable by one or moreprocessors to cause the one or more processors to perform operations.The operations include determining, by a UAV, a position of anautoloader device for the UAV. Based on the determined position of theautoloader device, the operations include causing the UAV to follow adescent trajectory in which the UAV moves from a starting position to afirst nudged position in order to deploy a tethered pickup component ofthe UAV to a payout position on an approach side of the autoloaderdevice. The operations further include deploying the tethered pickupcomponent of the UAV to the payout position. The operations additionallyinclude causing the UAV to follow a side-step trajectory in which theUAV moves laterally to a second nudged position in order to cause thetethered pickup component of the UAV to engage the autoloader device.The operations further include retracting the tethered pickup componentof the UAV to pick up a payload from the autoloader device.

These as well as other aspects, advantages, and alternatives will becomeapparent to those of ordinary skill in the art by reading the followingdetailed description with reference where appropriate to theaccompanying drawings. Further, it should be understood that thedescription provided in this summary section and elsewhere in thisdocument is intended to illustrate the claimed subject matter by way ofexample and not by way of limitation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is an isometric view of an example unmanned aerial vehicle 100,according to an example embodiment.

FIG. 1B is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 1C is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 1D is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 1E is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 2 is a simplified block diagram illustrating components of anunmanned aerial vehicle, according to an example embodiment.

FIG. 3 is a simplified block diagram illustrating a UAV system,according to an example embodiment.

FIGS. 4A, 4B, and 4C show a payload delivery apparatus, according toexample embodiments.

FIG. 5A shows a perspective view of a payload delivery apparatus 500including payload 510, according to an example embodiment.

FIG. 5B is a cross-sectional side view of payload delivery apparatus 500and payload 510 shown in FIG. 5A.

FIG. 5C is a side view of payload delivery apparatus 500 and payload 510shown in FIGS. 5A and 5B.

FIG. 6A is a perspective view of payload coupling apparatus 800,according to an example embodiment.

FIG. 6B is a side view of payload coupling apparatus 800 shown in FIG.6A.

FIG. 6C is a front view of payload coupling apparatus 800 shown in FIGS.6A and 6B.

FIG. 7 is a perspective view of payload coupling apparatus 800 shown inFIGS. 6A-6C, prior to insertion into a payload coupling apparatusreceptacle positioned in the fuselage of a UAV.

FIG. 8 is another perspective view of payload coupling apparatus 800shown in FIGS. 6A-6C, prior to insertion into a payload couplingapparatus receptacle positioned in the fuselage of a UAV.

FIG. 9 shows a perspective view of a recessed restraint slot and payloadcoupling apparatus receptacle positioned in a fuselage of a UAV.

FIG. 10A shows a side view of a payload delivery apparatus 500 with ahandle 511 of payload 510 secured within a payload coupling apparatus800 as the payload 510 moves downwardly prior to touching down fordelivery.

FIG. 10B shows a side view of payload delivery apparatus 500 afterpayload 510 has landed on the ground showing payload coupling apparatus800 decoupled from handle 511 of payload 510.

FIG. 10C shows a side view of payload delivery apparatus 500 withpayload coupling apparatus 800 moving away from handle 511 of payload510.

FIG. 11A is a side view of handle 511 of payload 510 having openings 514and 516 adapted to receive pins positioned on a payload holder,according to an example embodiment.

FIG. 11B is a side view of handle 511′ of a payload having magnets 514′and 516′ positioned thereon for magnetic engagement with a payloadholder, according to an example embodiment.

FIG. 12 shows a pair of locking pins 570, 572 extending through holes514 and 516 in handle 511 of payload 510 to secure the handle 511 andtop of payload 510 within the fuselage of a UAV, or to secure the handle511 to a payload holder on a payload retrieval apparatus.

FIG. 13A is a side view of payload coupling apparatus 800′ with a slot808 positioned above lip 806′, according to an example embodiment.

FIG. 13B is a side view of payload coupling apparatus 800′ after lip806′ has been moved outwardly to facilitate engagement with a handle ofa payload.

FIG. 13C is a side view of payload coupling apparatus 800″ having aplurality of magnets 830 positioned thereon, according to an exampleembodiment.

FIG. 13D is a side view of payload coupling apparatus 900 having aweighted side 840, according to an example embodiment.

FIG. 14 is a perspective view of payload retrieval apparatus 1000 havinga payload 510 positioned thereon, according to an example embodiment.

FIG. 15 is another perspective view of payload retrieval apparatus 1000and payload 510 shown in FIG. 14 .

FIG. 16 is a further perspective view of payload retrieval apparatus1000 and payload 510 shown in FIGS. 14 and 15 .

FIG. 17 shows a sequence of steps A-D performed in the retrieval ofpayload 510 from payload retrieval apparatus 1000 shown in FIGS. 14-16 .

FIG. 18 is a perspective view of payload retrieval apparatus 1000 shownin FIGS. 1-17 with a payload loading apparatus 1080 having a pluralityof payloads positioned thereon, according to an example embodiment.

FIG. 19 is a perspective view of channel 1050 of the payload retrievalapparatus 1000 shown in FIGS. 14-16 with a payload retriever 800positioned therein.

FIG. 20 is a perspective view of channel 1050 of the payload retrievalapparatus 1000 shown in FIGS. 14-16 with a payload retriever 800″positioned therein.

FIG. 21A is a cross-sectional view of channel 1050, according to anexample embodiment.

FIG. 21B is a side view of channel 1050 having a spring 1059 biasedagainst end 1057 thereof.

FIG. 22 is a side view of payload retrieval apparatus 1400.

FIG. 23 is a top view of payload retrieval apparatus 1400.

FIGS. 24A-E illustrate a sequence of steps used to automatically pick uppayload 510.

FIG. 25A is a perspective view of payload retrieval apparatus 1480.

FIG. 25B is a side view of payload retrieval apparatus 1480.

FIG. 25C is a side view of an end of payload retrieval apparatus 1480with payload 510 positioned on curved portion 1439.

FIG. 25D is a perspective view of an end of payload retrieval apparatus1480 with payload 510 positioned on curved portion 1439.

FIG. 25E shows a perspective view of payload retrieval apparatus 1500.

FIG. 26 is a perspective view of payload retrieval apparatus 1480.

FIG. 27A shows perspective views of rotational spring loaded pusher1600.

FIG. 27B shows a side view of leaf spring 1640.

FIG. 27C shows a side view of linear spring plunger 1650.

FIG. 28 is a perspective view of payload retrieval apparatus 1700.

FIGS. 29A-B show perspective and side views of spring loaded plunger pin1484.

FIGS. 30A-B show side views of protrusions 1519.

FIGS. 31A-B show side and perspective views of curved portion 1439.

FIGS. 32A-C show side and perspective views of curved portion 1439.

FIGS. 33A-B show perspective views of curved portion 1439.

FIGS. 34A-E show various perspective views of pivoting carriage 1700.

FIG. 35 shows a side view of payload retrieval apparatus 1000.

FIG. 36 shows a front view of payload retrieval apparatus 1900.

FIG. 37 shows a perspective side view of payload retrieval apparatus1900.

FIG. 38 shows a rear view of payload retrieval apparatus 1900.

FIG. 39 shows a top view of payload retrieval apparatus 1900.

FIG. 40A shows a partial top view of payload retrieval apparatus 1900.

FIG. 40B shows a partial rear perspective view of payload retrievalapparatus 1900.

FIG. 40C shows a partial rear perspective view of payload retrievalapparatus 1900.

FIG. 40D shows a partial rear perspective view of payload retrievalapparatus 1900.

FIG. 41A shows a perspective view of payload retrieval apparatus 1950.

FIG. 41B shows a front view of payload retrieval apparatus 1950.

FIG. 41C shows a partial side view of payload retrieval apparatus 1950.

FIG. 42 illustrates an autoloader device and a UAV side-step trajectory,in accordance with examples described herein.

FIG. 43 illustrates an autoloader device and a sequence of UAVtrajectories, in accordance with examples described herein.

FIG. 44 illustrates a UAV mission profile and tolerances, in accordancewith examples described herein.

FIG. 45 is a graph of tether offset profiles at a plurality of differentwind speeds, in accordance with examples described herein.

FIG. 46 is a graph of horizontal and vertical displacements of a payloadcoupling apparatus at different wind speeds, in accordance with examplesdescribed herein.

FIG. 47 is a block diagram of a method, in accordance with examplesdescribed herein.

FIG. 48 illustrates wind nudge maneuvers, in accordance with examplesdescribed herein.

FIG. 49 illustrates vertical wind nudge maneuvers, in accordance withexamples described herein.

DETAILED DESCRIPTION

Exemplary methods and systems are described herein. It should beunderstood that the word “exemplary” is used herein to mean “serving asan example, instance, or illustration.” Any implementation or featuredescribed herein as “exemplary” or “illustrative” is not necessarily tobe construed as preferred or advantageous over other implementations orfeatures. In the figures, similar symbols typically identify similarcomponents, unless context dictates otherwise. The exampleimplementations described herein are not meant to be limiting. It willbe readily understood that the aspects of the present disclosure, asgenerally described herein, and illustrated in the figures, can bearranged, substituted, combined, separated, and designed in a widevariety of different configurations, all of which are contemplatedherein.

The present embodiments provide a payload retrieval apparatus and methoduseful for automatic pickup of a payload at a payload retrieval site bya UAV having a payload retriever suspended from a tether attached to theUAV. The payload retrieval apparatus may be, but is not required to be,a non-permanent structure that includes a base or stand with a funnelingsystem positioned above the stand or base. A channel may be attachedunder or near the funneling system. A payload holder secures a payloadto a second end of the channel.

In some examples, the payload retriever apparatus may include a stand orbase having an upper end and a lower end, a funneling system having afirst sloped surface positioned over the stand or base, a second slopedsurface panel positioned adjacent the first sloped surface, a tetherslot positioned in a channel having a first end and a second end overthe stand or base, and a payload holder positioned at the second end ofthe channel that is adapted to secure a payload. The use of two slopedsurfaces is exemplary. Additional funneling surfaces of variousconfigurations and geometry may also be used. The surfaces may be hard,soft, or even made of netting to reduce wind load.

In one operation, a UAV arrives at the payload retrieval site with atether extending downwardly from the UAV and with the payload retrieversuspended from the end of the tether. The UAV approaches, and hoversover, the payload retrieval apparatus, the tether and payload retrieververtically descend over the payload retrieval apparatus until thepayload retriever comes into contact with a funneling system on thepayload retrieval apparatus, and the payload retriever slides inwardlyalong the funneling system where it is directed towards an entry to atether slot on the payload retrieval apparatus. Through upward winchingof the payload retriever, the tether moves into and through the tetherslot in the channel and the payload retriever attached to the tether ispulled into a channel by the tether. The payload retriever is pulledthrough the channel where it engages, and secures, the payloadpositioned on a payload holder. The payload retriever then pulls thepayload free from the payload holder. Once the payload is free from thepayload holder, the payload may be winched upwardly into secureengagement with the UAV, and the UAV may continue on to a delivery sitewhere the payload may be delivered by the UAV. In this manner, automaticpick up of a payload by a UAV is achieved without the need for a personto participate in the retrieval of the payload from a retrieval site.Other methods of delivering a payload retrieval are also possible. Forexample, the payload retriever may not land on the funneling system atall and may simply be positioned in front of a tether slot where thetether is drawn into the tether slot and the payload retriever is thendrawn into the channel. Other translational methods may also be used todraw the payload retriever into the channel.

The payload retriever may take the form of a capsule attached to an endof the tether, where the capsule has a slot with a hook or lip formedbeneath the slot. The hook or lip is adapted to extend through theaperture in the handle of the payload during payload retrieval. The areaabove the aperture in the handle extends within the slot of the capsuleand the payload is suspended beneath the handle by the hook or lip afterretrieval. The capsule may also be provided with a movable hook or lipthat may be extended outwardly from the capsule at the time of payloadretrieval, and later retracted to prevent the hook from reengaging withthe handle of the package after disengagement with the handle of thepayload at the time of payload delivery, or engaging branches or wiresfollowing disengagement from the payload at the time of payloaddelivery.

In order to ensure that the slot and hook of the capsule are in a properorientation as the capsule exits the channel and engages the handle ofthe payload, the capsule may be provided with exterior cams or slotsthat correspond to cams or slots positioned on an interior surface ofthe channel. The interaction of the cams or slots on the capsule andcams or slots on the interior of the channel properly orient the capsulewithin the channel such that the hook or lip beneath the slot of thecapsule is in proper position to extend through the aperture on thehandle of the payload to remove the payload from the payload holder. Thechannel may also have an interior that tapers downwardly, or decreasesin size, as the channel moves from the first end where the capsuleenters to the second end where the capsule exits to further facilitatethe proper orientation of the capsule within the channel. In addition,the second end of the channel could be spring loaded or operate as aleaf spring, to also facilitate the proper orientation of the capsule atthe point of payload retrieval.

It is important to provide a mechanism where, regardless of the positionupon entry into the channel, the payload retriever is properly alignedwith the opening in the handle of the payload upon exiting the channel.This application discloses a number of methods and techniques that havebeen devised to insure that the lip of the payload retriever is inproper position to extend through an opening on the handle of thepayload to secure the payload to the payload retriever for removal froma payload holder at the end of the channel.

Some mechanisms include providing asymmetrical cams on the inner surfaceof the channel that mate with asymmetrical cams on the outer surface ofthe payload retriever. The use of magnets is also disclosed herein. Aspring loaded rotational pusher forcing a cam into engagement with thelower portion of the payload retriever may be used to position the lipbeneath the slot into a desired position. A linear spring plunger orleaf spring may also be used. In addition, protrusions may be positionedin the inside of the channel such that when the top of the payloadretriever comes into contact with the protrusions, the bottom of thepayload retriever (and the lip) is forced towards the opening in thehandle of the payload. Furthermore, spring loaded pins could extend intothe interior of the channel, and upon engagement with the top of thepayload retriever engage cams that rotate the payload retriever into thedesired position.

It has been found to be particularly advantageous to provide a curvedportion at the end of the channel to angle the payload retriever uponexiting the channel to have the payload retriever “lean back” such thatthe lip of the payload retriever extends towards the opening in thehandle of the payload. The curved portion may allow for a top of thepayload retriever to contact the handle such that a portion of thehandle over the opening in the handle contacts the payload retriever andthe portion over the opening slides down the payload retriever until thelip of the payload retriever extends into the opening in the handle. Inaddition, the handle of the payload itself may act as a spring uponentry of the lip into the opening of the handle of the payload to rotatethe payload retriever into the proper position. For example, if therotational position of the payload retriever is off somewhat, then thehandle of the payload itself may act to rotate the payload retrieverinto its desired rotational position. In addition, a carriage thatpivots could secure the payload retriever and rotate to extend the lipof the payload retriever into the opening in the handle of the payload.

Furthermore, the payload retrieval apparatus may advantageously be amovable, non-permanent apparatus that may be easily set up, taken down,and removed, and may be easily moved from one payload retrieval site toanother. The payload retrieval apparatus preferably folds up, like anumbrella stand, to facilitate storage and transport of the payloadretrieval apparatus. In further examples, the payload retrievalapparatus can fold up, down, telescope in, or use a different techniqueto reduce the footprint for easy transport. In additional examples, theretrieval apparatus can also be wheeled. The non-permanent nature of thepayload retrieval apparatus also may eliminate the need for a permit forthe payload retrieval apparatus at the retrieval site. However, a moresolid and permanent payload retrieval apparatus may also be provided.

Herein, the terms “unmanned aerial vehicle” and “UAV” refer to anyautonomous or semi-autonomous vehicle that is capable of performing somefunctions without a physically present human pilot.

A UAV can take various forms. For example, a UAV may take the form of afixed-wing aircraft, a glider aircraft, a tail-sitter aircraft, a jetaircraft, a ducted fan aircraft, a lighter-than-air dirigible such as ablimp or steerable balloon, a rotorcraft such as a helicopter ormulticopter, and/or an ornithopter, among other possibilities. Further,the terms “drone,” “unmanned aerial vehicle system” (UAVS), or “unmannedaerial system” (UAS) may also be used to refer to a UAV.

FIG. 1A is an isometric view of an example UAV 100. UAV 100 includeswing 102, booms 104, and a fuselage 106. Wings 102 may be stationary andmay generate lift based on the wing shape and the UAV's forwardairspeed. For instance, the two wings 102 may have an airfoil-shapedcross section to produce an aerodynamic force on UAV 100. In someembodiments, wing 102 may carry horizontal propulsion units 108, andbooms 104 may carry vertical propulsion units 110. In operation, powerfor the propulsion units may be provided from a battery compartment 112of fuselage 106. In some embodiments, fuselage 106 also includes anavionics compartment 114, an additional battery compartment (not shown)and/or a delivery unit (not shown, e.g., a winch system) for handlingthe payload. In some embodiments, fuselage 106 is modular, and two ormore compartments (e.g., battery compartment 112, avionics compartment114, other payload and delivery compartments) are detachable from eachother and securable to each other (e.g., mechanically, magnetically, orotherwise) to contiguously form at least a portion of fuselage 106.

In some embodiments, booms 104 terminate in rudders 116 for improved yawcontrol of UAV 100. Further, wings 102 may terminate in wing tips 117for improved control of lift of the UAV.

In the illustrated configuration, UAV 100 includes a structural frame.The structural frame may be referred to as a “structural H-frame” or an“H-frame” (not shown) of the UAV. The H-frame may include, within wings102, a wing spar (not shown) and, within booms 104, boom carriers (notshown). In some embodiments the wing spar and the boom carriers may bemade of carbon fiber, hard plastic, aluminum, light metal alloys, orother materials. The wing spar and the boom carriers may be connectedwith clamps. The wing spar may include pre-drilled holes for horizontalpropulsion units 108, and the boom carriers may include pre-drilledholes for vertical propulsion units 110.

In some embodiments, fuselage 106 may be removably attached to theH-frame (e.g., attached to the wing spar by clamps, configured withgrooves, protrusions or other features to mate with correspondingH-frame features, etc.). In other embodiments, fuselage 106 similarlymay be removably attached to wings 102. The removable attachment offuselage 106 may improve quality and or modularity of UAV 100. Forexample, electrical/mechanical components and/or subsystems of fuselage106 may be tested separately from, and before being attached to, theH-frame. Similarly, printed circuit boards (PCBs) 118 may be testedseparately from, and before being attached to, the boom carriers,therefore eliminating defective parts/subassemblies prior to completingthe UAV. For example, components of fuselage 106 (e.g., avionics,battery unit, delivery units, an additional battery compartment, etc.)may be electrically tested before fuselage 106 is mounted to theH-frame. Furthermore, the motors and the electronics of PCBs 118 mayalso be electrically tested before the final assembly. Generally, theidentification of the defective parts and subassemblies early in theassembly process lowers the overall cost and lead time of the UAV.Furthermore, different types/models of fuselage 106 may be attached tothe H-frame, therefore improving the modularity of the design. Suchmodularity allows these various parts of UAV 100 to be upgraded withouta substantial overhaul to the manufacturing process.

In some embodiments, a wing shell and boom shells may be attached to theH-frame by adhesive elements (e.g., adhesive tape, double-sided adhesivetape, glue, etc.). Therefore, multiple shells may be attached to theH-frame instead of having a monolithic body sprayed onto the H-frame. Insome embodiments, the presence of the multiple shells reduces thestresses induced by the coefficient of thermal expansion of thestructural frame of the UAV. As a result, the UAV may have betterdimensional accuracy and/or improved reliability.

Moreover, in at least some embodiments, the same H-frame may be usedwith the wing shell and/or boom shells having different size and/ordesign, therefore improving the modularity and versatility of the UAVdesigns. The wing shell and/or the boom shells may be made of relativelylight polymers (e.g., closed cell foam) covered by the harder, butrelatively thin, plastic skins.

The power and/or control signals from fuselage 106 may be routed to PCBs118 through cables running through fuselage 106, wings 102, and booms104. In the illustrated embodiment, UAV 100 has four PCBs, but othernumbers of PCBs are also possible. For example, UAV 100 may include twoPCBs, one per the boom. The PCBs carry electronic components 119including, for example, power converters, controllers, memory, passivecomponents, etc. In operation, propulsion units 108 and 110 of UAV 100are electrically connected to the PCBs.

Many variations on the illustrated UAV are possible. For instance,fixed-wing UAVs may include more or fewer rotor units (vertical orhorizontal), and/or may utilize a ducted fan or multiple ducted fans forpropulsion. Further, UAVs with more wings (e.g., an “x-wing”configuration with four wings), are also possible. Although FIG. 1illustrates two wings 102, two booms 104, two horizontal propulsionunits 108, and six vertical propulsion units 110 per boom 104, it shouldbe appreciated that other variants of UAV 100 may be implemented withmore or less of these components. For example, UAV 100 may include fourwings 102, four booms 104, and more or less propulsion units (horizontalor vertical).

Similarly, FIG. 1B shows another example of a fixed-wing UAV 120. Thefixed-wing UAV 120 includes a fuselage 122, two wings 124 with anairfoil-shaped cross section to provide lift for the UAV 120, a verticalstabilizer 126 (or fin) to stabilize the plane's yaw (turn left orright), a horizontal stabilizer 128 (also referred to as an elevator ortailplane) to stabilize pitch (tilt up or down), landing gear 130, and apropulsion unit 132, which can include a motor, shaft, and propeller.

FIG. 1C shows an example of a UAV 140 with a propeller in a pusherconfiguration. The term “pusher” refers to the fact that a propulsionunit 142 is mounted at the back of the UAV and “pushes” the vehicleforward, in contrast to the propulsion unit being mounted at the frontof the UAV. Similar to the description provided for FIGS. 1A and 1B,FIG. 1C depicts common structures used in a pusher plane, including afuselage 144, two wings 146, vertical stabilizers 148, and thepropulsion unit 142, which can include a motor, shaft, and propeller.

FIG. 1D shows an example of a tail-sitter UAV 160. In the illustratedexample, the tail-sitter UAV 160 has fixed wings 162 to provide lift andallow the UAV 160 to glide horizontally (e.g., along the x-axis, in aposition that is approximately perpendicular to the position shown inFIG. 1D). However, the fixed wings 162 also allow the tail-sitter UAV160 to take off and land vertically on its own.

For example, at a launch site, the tail-sitter UAV 160 may be positionedvertically (as shown) with its fins 164 and/or wings 162 resting on theground and stabilizing the UAV 160 in the vertical position. Thetail-sitter UAV 160 may then take off by operating its propellers 166 togenerate an upward thrust (e.g., a thrust that is generally along they-axis). Once at a suitable altitude, the tail-sitter UAV 160 may useits flaps 168 to reorient itself in a horizontal position, such that itsfuselage 170 is closer to being aligned with the x-axis than the y-axis.Positioned horizontally, the propellers 166 may provide forward thrustso that the tail-sitter UAV 160 can fly in a similar manner as a typicalairplane.

Many variations on the illustrated fixed-wing UAVs are possible. Forinstance, fixed-wing UAVs may include more or fewer propellers, and/ormay utilize a ducted fan or multiple ducted fans for propulsion.Further, UAVs with more wings (e.g., an “x-wing” configuration with fourwings), with fewer wings, or even with no wings, are also possible.

As noted above, some embodiments may involve other types of UAVs, inaddition to or in the alternative to fixed-wing UAVs. For instance, FIG.1E shows an example of a rotorcraft that is commonly referred to as amulticopter 180. The multicopter 180 may also be referred to as aquadcopter, as it includes four rotors 182. It should be understood thatexample embodiments may involve a rotorcraft with more or fewer rotorsthan the multicopter 180. For example, a helicopter typically has tworotors. Other examples with three or more rotors are possible as well.Herein, the term “multicopter” refers to any rotorcraft having more thantwo rotors, and the term “helicopter” refers to rotorcraft having tworotors.

Referring to the multicopter 180 in greater detail, the four rotors 182provide propulsion and maneuverability for the multicopter 180. Morespecifically, each rotor 182 includes blades that are attached to amotor 184. Configured as such, the rotors 182 may allow the multicopter180 to take off and land vertically, to maneuver in any direction,and/or to hover. Further, the pitch of the blades may be adjusted as agroup and/or differentially, and may allow the multicopter 180 tocontrol its pitch, roll, yaw, and/or altitude.

It should be understood that references herein to an “unmanned” aerialvehicle or UAV can apply equally to autonomous and semi-autonomousaerial vehicles. In an autonomous implementation, all functionality ofthe aerial vehicle is automated; e.g., pre-programmed or controlled viareal-time computer functionality that responds to input from varioussensors and/or pre-determined information. In a semi-autonomousimplementation, some functions of an aerial vehicle may be controlled bya human operator, while other functions are carried out autonomously.Further, in some embodiments, a UAV may be configured to allow a remoteoperator to take over functions that can otherwise be controlledautonomously by the UAV. Yet further, a given type of function may becontrolled remotely at one level of abstraction and performedautonomously at another level of abstraction. For example, a remoteoperator could control high level navigation decisions for a UAV, suchas by specifying that the UAV should travel from one location to another(e.g., from a warehouse in a suburban area to a delivery address in anearby city), while the UAV's navigation system autonomously controlsmore fine-grained navigation decisions, such as the specific route totake between the two locations, specific flight controls to achieve theroute and avoid obstacles while navigating the route, and so on.

More generally, it should be understood that the example UAVs describedherein are not intended to be limiting. Example embodiments may relateto, be implemented within, or take the form of any type of unmannedaerial vehicle.

FIG. 2 is a simplified block diagram illustrating components of a UAV200, according to an example embodiment. UAV 200 may take the form of,or be similar in form to, one of the UAVs 100, 120, 140, 160, and 180described in reference to FIGS. 1A-1E. However, UAV 200 may also takeother forms.

UAV 200 may include various types of sensors, and may include acomputing system configured to provide the functionality describedherein. In the illustrated embodiment, the sensors of UAV 200 include aninertial measurement unit (IMU) 202, ultrasonic sensor(s) 204, and a GPS206, among other possible sensors and sensing systems.

In the illustrated embodiment, UAV 200 also includes one or moreprocessors 208. A processor 208 may be a general-purpose processor or aspecial purpose processor (e.g., digital signal processors, applicationspecific integrated circuits, etc.). The one or more processors 208 canbe configured to execute computer-readable program instructions 212 thatare stored in the data storage 210 and are executable to provide thefunctionality of a UAV described herein.

The data storage 210 may include or take the form of one or morecomputer-readable storage media that can be read or accessed by at leastone processor 208. The one or more computer-readable storage media caninclude volatile and/or non-volatile storage components, such asoptical, magnetic, organic or other memory or disc storage, which can beintegrated in whole or in part with at least one of the one or moreprocessors 208. In some embodiments, the data storage 210 can beimplemented using a single physical device (e.g., one optical, magnetic,organic or other memory or disc storage unit), while in otherembodiments, the data storage 210 can be implemented using two or morephysical devices.

As noted, the data storage 210 can include computer-readable programinstructions 212 and perhaps additional data, such as diagnostic data ofthe UAV 200. As such, the data storage 210 may include programinstructions 212 to perform or facilitate some or all of the UAVfunctionality described herein. For instance, in the illustratedembodiment, program instructions 212 include a navigation module 214 anda tether control module 216.

In an illustrative embodiment, IMU 202 may include both an accelerometerand a gyroscope, which may be used together to determine an orientationof the UAV 200. In particular, the accelerometer can measure theorientation of the vehicle with respect to earth, while the gyroscopemeasures the rate of rotation around an axis. IMUs are commerciallyavailable in low-cost, low-power packages. For instance, an IMU 202 maytake the form of or include a miniaturized MicroElectroMechanical System(MEMS) or a NanoElectroMechanical System (NEMS). Other types of IMUs mayalso be utilized.

An IMU 202 may include other sensors, in addition to accelerometers andgyroscopes, which may help to better determine position and/or help toincrease autonomy of the UAV 200. Two examples of such sensors aremagnetometers and pressure sensors. In some embodiments, a UAV mayinclude a low-power, digital 3-axis magnetometer, which can be used torealize an orientation independent electronic compass for accurateheading information. However, other types of magnetometers may beutilized as well. Other examples are also possible. Further, note that aUAV could include some or all of the above-described inertia sensors asseparate components from an IMU.

UAV 200 may also include a pressure sensor or barometer, which can beused to determine the altitude of the UAV 200. Alternatively, othersensors, such as sonic altimeters or radar altimeters, can be used toprovide an indication of altitude, which may help to improve theaccuracy of and/or prevent drift of an IMU.

In a further aspect, UAV 200 may include one or more sensors that allowthe UAV to sense objects in the environment. For instance, in theillustrated embodiment, UAV 200 includes ultrasonic sensor(s) 204.Ultrasonic sensor(s) 204 can determine the distance to an object bygenerating sound waves and determining the time interval betweentransmission of the wave and receiving the corresponding echo off anobject. A typical application of an ultrasonic sensor for unmannedvehicles or IMUs is low-level altitude control and obstacle avoidance.An ultrasonic sensor can also be used for vehicles that need to hover ata certain height or need to be capable of detecting obstacles. Othersystems can be used to determine, sense the presence of, and/ordetermine the distance to nearby objects, such as a light detection andranging (LIDAR) system, laser detection and ranging (LADAR) system,and/or an infrared or forward-looking infrared (FLIR) system, amongother possibilities.

In some embodiments, UAV 200 may also include one or more imagingsystem(s). For example, one or more still and/or video cameras may beutilized by UAV 200 to capture image data from the UAV's environment. Asa specific example, charge-coupled device (CCD) cameras or complementarymetal-oxide-semiconductor (CMOS) cameras can be used with unmannedvehicles. Such imaging sensor(s) have numerous possible applications,such as obstacle avoidance, localization techniques, ground tracking formore accurate navigation (e,g., by applying optical flow techniques toimages), video feedback, and/or image recognition and processing, amongother possibilities.

UAV 200 may also include a GPS receiver 206. The GPS receiver 206 may beconfigured to provide data that is typical of well-known GPS systems,such as the GPS coordinates of the UAV 200. Such GPS data may beutilized by the UAV 200 for various functions. As such, the UAV may useits GPS receiver 206 to help navigate to the caller's location, asindicated, at least in part, by the GPS coordinates provided by theirmobile device. Other examples are also possible.

The navigation module 214 may provide functionality that allows the UAV200 to, e.g., move about its environment and reach a desired location.To do so, the navigation module 214 may control the altitude and/ordirection of flight by controlling the mechanical features of the UAVthat affect flight (e.g., its rudder(s), elevator(s), aileron(s), and/orthe speed of its propeller(s)).

In order to navigate the UAV 200 to a target location, the navigationmodule 214 may implement various navigation techniques, such asmap-based navigation and localization-based navigation, for instance.With map-based navigation, the UAV 200 may be provided with a map of itsenvironment, which may then be used to navigate to a particular locationon the map. With localization-based navigation, the UAV 200 may becapable of navigating in an unknown environment using localization.Localization-based navigation may involve the UAV 200 building its ownmap of its environment and calculating its position within the mapand/or the position of objects in the environment. For example, as a UAV200 moves throughout its environment, the UAV 200 may continuously uselocalization to update its map of the environment. This continuousmapping process may be referred to as simultaneous localization andmapping (SLAM). Other navigation techniques may also be utilized.

In some embodiments, the navigation module 214 may navigate using atechnique that relies on waypoints. In particular, waypoints are sets ofcoordinates that identify points in physical space. For instance, anair-navigation waypoint may be defined by a certain latitude, longitude,and altitude. Accordingly, navigation module 214 may cause UAV 200 tomove from waypoint to waypoint, in order to ultimately travel to a finaldestination (e.g., a final waypoint in a sequence of waypoints).

In a further aspect, the navigation module 214 and/or other componentsand systems of the UAV 200 may be configured for “localization” to moreprecisely navigate to the scene of a target location. More specifically,it may be desirable in certain situations for a UAV to be within athreshold distance of the target location where a payload 228 is beingdelivered by a UAV (e.g., within a few feet of the target destination).To this end, a UAV may use a two-tiered approach in which it uses amore-general location-determination technique to navigate to a generalarea that is associated with the target location, and then use amore-refined location-determination technique to identify and/ornavigate to the target location within the general area.

For example, the UAV 200 may navigate to the general area of a targetdestination where a payload 228 is being delivered using waypointsand/or map-based navigation. The UAV may then switch to a mode in whichit utilizes a localization process to locate and travel to a morespecific location. For instance, if the UAV 200 is to deliver a payloadto a user's home, the UAV 200 may need to be substantially close to thetarget location in order to avoid delivery of the payload to undesiredareas (e.g., onto a roof, into a pool, onto a neighbor's property,etc.). However, a GPS signal may only get the UAV 200 so far (e.g.,within a block of the user's home). A more preciselocation-determination technique may then be used to find the specifictarget location.

Various types of location-determination techniques may be used toaccomplish localization of the target delivery location once the UAV 200has navigated to the general area of the target delivery location. Forinstance, the UAV 200 may be equipped with one or more sensory systems,such as, for example, ultrasonic sensors 204, infrared sensors (notshown), and/or other sensors, which may provide input that thenavigation module 214 utilizes to navigate autonomously orsemi-autonomously to the specific target location.

As another example, once the UAV 200 reaches the general area of thetarget delivery location (or of a moving subject such as a person ortheir mobile device), the UAV 200 may switch to a “fly-by-wire” modewhere it is controlled, at least in part, by a remote operator, who cannavigate the UAV 200 to the specific target location. To this end,sensory data from the UAV 200 may be sent to the remote operator toassist them in navigating the UAV 200 to the specific location.

As yet another example, the UAV 200 may include a module that is able tosignal to a passer-by for assistance in either reaching the specifictarget delivery location; for example, the UAV 200 may display a visualmessage requesting such assistance in a graphic display, play an audiomessage or tone through speakers to indicate the need for suchassistance, among other possibilities. Such a visual or audio messagemight indicate that assistance is needed in delivering the UAV 200 to aparticular person or a particular location, and might provideinformation to assist the passer-by in delivering the UAV 200 to theperson or location (e.g., a description or picture of the person orlocation, and/or the person or location's name), among otherpossibilities. Such a feature can be useful in a scenario in which theUAV is unable to use sensory functions or another location-determinationtechnique to reach the specific target location. However, this featureis not limited to such scenarios.

In some embodiments, once the UAV 200 arrives at the general area of atarget delivery location, the UAV 200 may utilize a beacon from a user'sremote device (e.g., the user's mobile phone) to locate the person. Sucha beacon may take various forms. As an example, consider the scenariowhere a remote device, such as the mobile phone of a person whorequested a UAV delivery, is able to send out directional signals (e.g.,via an RF signal, a light signal and/or an audio signal). In thisscenario, the UAV 200 may be configured to navigate by “sourcing” suchdirectional signals—in other words, by determining where the signal isstrongest and navigating accordingly. As another example, a mobiledevice can emit a frequency, either in the human range or outside thehuman range, and the UAV 200 can listen for that frequency and navigateaccordingly. As a related example, if the UAV 200 is listening forspoken commands, then the UAV 200 could utilize spoken statements, suchas “I'm over here!” to source the specific location of the personrequesting delivery of a payload.

In an alternative arrangement, a navigation module may be implemented ata remote computing device, which communicates wirelessly with the UAV200. The remote computing device may receive data indicating theoperational state of the UAV 200, sensor data from the UAV 200 thatallows it to assess the environmental conditions being experienced bythe UAV 200, and/or location information for the UAV 200. Provided withsuch information, the remote computing device may determine altitudinaland/or directional adjustments that should be made by the UAV 200 and/ormay determine how the UAV 200 should adjust its mechanical features(e.g., its rudder(s), elevator(s), aileron(s), and/or the speed of itspropeller(s)) in order to effectuate such movements. The remotecomputing system may then communicate such adjustments to the UAV 200 soit can move in the determined manner.

In a further aspect, the UAV 200 includes one or more communicationsystems 218. The communications systems 218 may include one or morewireless interfaces and/or one or more wireline interfaces, which allowthe UAV 200 to communicate via one or more networks. Such wirelessinterfaces may provide for communication under one or more wirelesscommunication protocols, such as Bluetooth, WiFi (e.g., an IEEE 802.11protocol), Long-Term Evolution (LTE), WiMAX (e.g., an IEEE 802.16standard), a radio-frequency ID (RFID) protocol, near-fieldcommunication (NFC), and/or other wireless communication protocols. Suchwireline interfaces may include an Ethernet interface, a UniversalSerial Bus (USB) interface, or similar interface to communicate via awire, a twisted pair of wires, a coaxial cable, an optical link, afiber-optic link, or other physical connection to a wireline network.

In some embodiments, a UAV 200 may include communication systems 218that allow for both short-range communication and long-rangecommunication. For example, the UAV 200 may be configured forshort-range communications using Bluetooth and for long-rangecommunications under a CDMA protocol. In such an embodiment, the UAV 200may be configured to function as a “hot spot;” or in other words, as agateway or proxy between a remote support device and one or more datanetworks, such as a cellular network and/or the Internet. Configured assuch, the UAV 200 may facilitate data communications that the remotesupport device would otherwise be unable to perform by itself.

For example, the UAV 200 may provide a WiFi connection to a remotedevice, and serve as a proxy or gateway to a cellular service provider'sdata network, which the UAV might connect to under an LTE or a 3Gprotocol, for instance. The UAV 200 could also serve as a proxy orgateway to a high-altitude balloon network, a satellite network, or acombination of these networks, among others, which a remote device mightnot be able to otherwise access.

In a further aspect, the UAV 200 may include power system(s) 220. Thepower system 220 may include one or more batteries for providing powerto the UAV 200. In one example, the one or more batteries may berechargeable and each battery may be recharged via a wired connectionbetween the battery and a power supply and/or via a wireless chargingsystem, such as an inductive charging system that applies an externaltime-varying magnetic field to an internal battery.

The UAV 200 may employ various systems and configurations in order totransport and deliver a payload 228. In some implementations, thepayload 228 of a given UAV 200 may include or take the form of a“package” designed to transport various goods to a target deliverylocation. For example, the UAV 200 can include a compartment, in whichan item or items may be transported. Such a package may one or more fooditems, purchased goods, medical items, or any other object(s) having asize and weight suitable to be transported between two locations by theUAV. In other embodiments, a payload 228 may simply be the one or moreitems that are being delivered (e.g., without any package housing theitems).

In some embodiments, the payload 228 may be attached to the UAV andlocated substantially outside of the UAV during some or all of a flightby the UAV. For example, the package may be tethered or otherwisereleasably attached below the UAV during flight to a target location. Inan embodiment where a package carries goods below the UAV, the packagemay include various features that protect its contents from theenvironment, reduce aerodynamic drag on the system, and prevent thecontents of the package from shifting during UAV flight.

For instance, when the payload 228 takes the form of a package fortransporting items, the package may include an outer shell constructedof water-resistant cardboard, plastic, or any other lightweight andwater-resistant material. Further, in order to reduce drag, the packagemay feature smooth surfaces with a pointed front that reduces thefrontal cross-sectional area. Further, the sides of the package maytaper from a wide bottom to a narrow top, which allows the package toserve as a narrow pylon that reduces interference effects on the wing(s)of the UAV. This may move some of the frontal area and volume of thepackage away from the wing(s) of the UAV, thereby preventing thereduction of lift on the wing(s) cause by the package. Yet further, insome embodiments, the outer shell of the package may be constructed froma single sheet of material in order to reduce air gaps or extramaterial, both of which may increase drag on the system. Additionally oralternatively, the package may include a stabilizer to dampen packageflutter. This reduction in flutter may allow the package to have a lessrigid connection to the UAV and may cause the contents of the package toshift less during flight.

In order to deliver the payload, the UAV may include a winch system 221controlled by the tether control module 216 in order to lower thepayload 228 to the ground while the UAV hovers above. As shown in FIG. 2, the winch system 221 may include a tether 224, and the tether 224 maybe coupled to the payload 228 by a payload coupling apparatus 226. Thetether 224 may be wound on a spool that is coupled to a motor 222 of theUAV. The motor 222 may take the form of a DC motor (e.g., a servo motor)that can be actively controlled by a speed controller. The tethercontrol module 216 can control the speed controller to cause the motor222 to rotate the spool, thereby unwinding or retracting the tether 224and lowering or raising the payload coupling apparatus 226. In practice,the speed controller may output a desired operating rate (e.g., adesired RPM) for the spool, which may correspond to the speed at whichthe tether 224 and payload 228 should be lowered towards the ground. Themotor 222 may then rotate the spool so that it maintains the desiredoperating rate.

In order to control the motor 222 via the speed controller, the tethercontrol module 216 may receive data from a speed sensor (e.g., anencoder) configured to convert a mechanical position to a representativeanalog or digital signal. In particular, the speed sensor may include arotary encoder that may provide information related to rotary position(and/or rotary movement) of a shaft of the motor or the spool coupled tothe motor, among other possibilities. Moreover, the speed sensor maytake the form of an absolute encoder and/or an incremental encoder,among others. So in an example implementation, as the motor 222 causesrotation of the spool, a rotary encoder may be used to measure thisrotation. In doing so, the rotary encoder may be used to convert arotary position to an analog or digital electronic signal used by thetether control module 216 to determine the amount of rotation of thespool from a fixed reference angle and/or to an analog or digitalelectronic signal that is representative of a new rotary position, amongother options. Other examples are also possible.

Based on the data from the speed sensor, the tether control module 216may determine a rotational speed of the motor 222 and/or the spool andresponsively control the motor 222 (e.g., by increasing or decreasing anelectrical current supplied to the motor 222) to cause the rotationalspeed of the motor 222 to match a desired speed. When adjusting themotor current, the magnitude of the current adjustment may be based on aproportional-integral-derivative (PID) calculation using the determinedand desired speeds of the motor 222. For instance, the magnitude of thecurrent adjustment may be based on a present difference, a pastdifference (based on accumulated error over time), and a futuredifference (based on current rates of change) between the determined anddesired speeds of the spool.

In some embodiments, the tether control module 216 may vary the rate atwhich the tether 224 and payload 228 are lowered to the ground. Forexample, the speed controller may change the desired operating rateaccording to a variable deployment-rate profile and/or in response toother factors in order to change the rate at which the payload 228descends toward the ground. To do so, the tether control module 216 mayadjust an amount of braking or an amount of friction that is applied tothe tether 224. For example, to vary the tether deployment rate, the UAV200 may include friction pads that can apply a variable amount ofpressure to the tether 224. As another example, the UAV 200 can includea motorized braking system that varies the rate at which the spool letsout the tether 224. Such a braking system may take the form of anelectromechanical system in which the motor 222 operates to slow therate at which the spool lets out the tether 224. Further, the motor 222may vary the amount by which it adjusts the speed (e.g., the RPM) of thespool, and thus may vary the deployment rate of the tether 224. Otherexamples are also possible.

In some embodiments, the tether control module 216 may be configured tolimit the motor current supplied to the motor 222 to a maximum value.With such a limit placed on the motor current, there may be situationswhere the motor 222 cannot operate at the desired operate specified bythe speed controller. For instance, as discussed in more detail below,there may be situations where the speed controller specifies a desiredoperating rate at which the motor 222 should retract the tether 224toward the UAV 200, but the motor current may be limited such that alarge enough downward force on the tether 224 would counteract theretracting force of the motor 222 and cause the tether 224 to unwindinstead. And as further discussed below, a limit on the motor currentmay be imposed and/or altered depending on an operational state of theUAV 200.

In some embodiments, the tether control module 216 may be configured todetermine a status of the tether 224 and/or the payload 228 based on theamount of current supplied to the motor 222. For instance, if a downwardforce is applied to the tether 224 (e.g., if the payload 228 is attachedto the tether 224 or if the tether 224 gets snagged on an object whenretracting toward the UAV 200), the tether control module 216 may needto increase the motor current in order to cause the determinedrotational speed of the motor 222 and/or spool to match the desiredspeed. Similarly, when the downward force is removed from the tether 224(e.g., upon delivery of the payload 228 or removal of a tether snag),the tether control module 216 may need to decrease the motor current inorder to cause the determined rotational speed of the motor 222 and/orspool to match the desired speed. As such, the tether control module 216may be configured to monitor the current supplied to the motor 222. Forinstance, the tether control module 216 could determine the motorcurrent based on sensor data received from a current sensor of the motoror a current sensor of the power system 220. In any case, based on thecurrent supplied to the motor 222, determine if the payload 228 isattached to the tether 224, if someone or something is pulling on thetether 224, and/or if the payload coupling apparatus 226 is pressingagainst the UAV 200 after retracting the tether 224. Other examples arepossible as well.

During delivery of the payload 228, the payload coupling apparatus 226can be configured to secure the payload 228 while being lowered from theUAV by the tether 224, and can be further configured to release thepayload 228 upon reaching ground level. The payload coupling apparatus226 can then be retracted to the UAV by reeling in the tether 224 usingthe motor 222.

In some implementations, the payload 228 may be passively released onceit is lowered to the ground. For example, a passive release mechanismmay include one or more swing arms adapted to retract into and extendfrom a housing. An extended swing arm may form a hook on which thepayload 228 may be attached. Upon lowering the release mechanism and thepayload 228 to the ground via a tether, a gravitational force as well asa downward inertial force on the release mechanism may cause the payload228 to detach from the hook allowing the release mechanism to be raisedupwards toward the UAV. The release mechanism may further include aspring mechanism that biases the swing arm to retract into the housingwhen there are no other external forces on the swing arm. For instance,a spring may exert a force on the swing arm that pushes or pulls theswing arm toward the housing such that the swing arm retracts into thehousing once the weight of the payload 228 no longer forces the swingarm to extend from the housing. Retracting the swing arm into thehousing may reduce the likelihood of the release mechanism snagging thepayload 228 or other nearby objects when raising the release mechanismtoward the UAV upon delivery of the payload 228.

Active payload release mechanisms are also possible. For example,sensors such as a barometric pressure based altimeter and/oraccelerometers may help to detect the position of the release mechanism(and the payload) relative to the ground. Data from the sensors can becommunicated back to the UAV and/or a control system over a wirelesslink and used to help in determining when the release mechanism hasreached ground level (e.g., by detecting a measurement with theaccelerometer that is characteristic of ground impact). In otherexamples, the UAV may determine that the payload has reached the groundbased on a weight sensor detecting a threshold low downward force on thetether and/or based on a threshold low measurement of power drawn by thewinch when lowering the payload.

Other systems and techniques for delivering a payload, in addition or inthe alternative to a tethered delivery system are also possible. Forexample, a UAV 200 could include an air-bag drop system or a parachutedrop system. Alternatively, a UAV 200 carrying a payload could simplyland on the ground at a delivery location. Other examples are alsopossible.

UAV systems may be implemented in order to provide various UAV-relatedservices. In particular, UAVs may be provided at a number of differentlaunch sites that may be in communication with regional and/or centralcontrol systems. Such a distributed UAV system may allow UAVs to bequickly deployed to provide services across a large geographic area(e.g., that is much larger than the flight range of any single UAV). Forexample, UAVs capable of carrying payloads may be distributed at anumber of launch sites across a large geographic area (possibly eventhroughout an entire country, or even worldwide), in order to provideon-demand transport of various items to locations throughout thegeographic area. FIG. 3 is a simplified block diagram illustrating adistributed UAV system 300, according to an example embodiment.

In the illustrative UAV system 300, an access system 302 may allow forinteraction with, control of, and/or utilization of a network of UAVs304. In some embodiments, an access system 302 may be a computing systemthat allows for human-controlled dispatch of UAVs 304. As such, thecontrol system may include or otherwise provide a user interface throughwhich a user can access and/or control the UAVs 304.

In some embodiments, dispatch of the UAVs 304 may additionally oralternatively be accomplished via one or more automated processes. Forinstance, the access system 302 may dispatch one of the UAVs 304 totransport a payload to a target location, and the UAV may autonomouslynavigate to the target location by utilizing various on-board sensors,such as a GPS receiver and/or other various navigational sensors.

Further, the access system 302 may provide for remote operation of aUAV. For instance, the access system 302 may allow an operator tocontrol the flight of a UAV via its user interface. As a specificexample, an operator may use the access system 302 to dispatch a UAV 304to a target location. The UAV 304 may then autonomously navigate to thegeneral area of the target location. At this point, the operator may usethe access system 302 to take control of the UAV 304 and navigate theUAV to the target location (e.g., to a particular person to whom apayload is being transported). Other examples of remote operation of aUAV are also possible.

In an illustrative embodiment, the UAVs 304 may take various forms. Forexample, each of the UAVs 304 may be a UAV such as those illustrated inFIGS. 1A-1E. However, UAV system 300 may also utilize other types ofUAVs without departing from the scope of the invention. In someimplementations, all of the UAVs 304 may be of the same or a similarconfiguration. However, in other implementations, the UAVs 304 mayinclude a number of different types of UAVs. For instance, the UAVs 304may include a number of types of UAVs, with each type of UAV beingconfigured for a different type or types of payload deliverycapabilities.

The UAV system 300 may further include a remote device 306, which maytake various forms. Generally, the remote device 306 may be any devicethrough which a direct or indirect request to dispatch a UAV can bemade. (Note that an indirect request may involve any communication thatmay be responded to by dispatching a UAV, such as requesting a packagedelivery). In an example embodiment, the remote device 306 may be amobile phone, tablet computer, laptop computer, personal computer, orany network-connected computing device. Further, in some instances, theremote device 306 may not be a computing device. As an example, astandard telephone, which allows for communication via plain oldtelephone service (POTS), may serve as the remote device 306. Othertypes of remote devices are also possible.

Further, the remote device 306 may be configured to communicate withaccess system 302 via one or more types of communication network(s) 308.For example, the remote device 306 may communicate with the accesssystem 302 (or a human operator of the access system 302) bycommunicating over a POTS network, a cellular network, and/or a datanetwork such as the Internet. Other types of networks may also beutilized.

In some embodiments, the remote device 306 may be configured to allow auser to request delivery of one or more items to a desired location. Forexample, a user could request UAV delivery of a package to their homevia their mobile phone, tablet, or laptop. As another example, a usercould request dynamic delivery to wherever they are located at the timeof delivery. To provide such dynamic delivery, the UAV system 300 mayreceive location information (e.g., GPS coordinates, etc.) from theuser's mobile phone, or any other device on the user's person, such thata UAV can navigate to the user's location (as indicated by their mobilephone).

In an illustrative arrangement, the central dispatch system 310 may be aserver or group of servers, which is configured to receive dispatchmessages requests and/or dispatch instructions from the access system302. Such dispatch messages may request or instruct the central dispatchsystem 310 to coordinate the deployment of UAVs to various targetlocations. The central dispatch system 310 may be further configured toroute such requests or instructions to one or more local dispatchsystems 312. To provide such functionality, the central dispatch system310 may communicate with the access system 302 via a data network, suchas the Internet or a private network that is established forcommunications between access systems and automated dispatch systems.

In the illustrated configuration, the central dispatch system 310 may beconfigured to coordinate the dispatch of UAVs 304 from a number ofdifferent local dispatch systems 312. As such, the central dispatchsystem 310 may keep track of which UAVs 304 are located at which localdispatch systems 312, which UAVs 304 are currently available fordeployment, and/or which services or operations each of the UAVs 304 isconfigured for (in the event that a UAV fleet includes multiple types ofUAVs configured for different services and/or operations). Additionallyor alternatively, each local dispatch system 312 may be configured totrack which of its associated UAVs 304 are currently available fordeployment and/or are currently in the midst of item transport.

In some cases, when the central dispatch system 310 receives a requestfor UAV-related service (e.g., transport of an item) from the accesssystem 302, the central dispatch system 310 may select a specific UAV304 to dispatch. The central dispatch system 310 may accordinglyinstruct the local dispatch system 312 that is associated with theselected UAV to dispatch the selected UAV. The local dispatch system 312may then operate its associated deployment system 314 to launch theselected UAV. In other cases, the central dispatch system 310 mayforward a request for a UAV-related service to a local dispatch system312 that is near the location where the support is requested and leavethe selection of a particular UAV 304 to the local dispatch system 312.

In an example configuration, the local dispatch system 312 may beimplemented as a computing system at the same location as the deploymentsystem(s) 314 that it controls. For example, the local dispatch system312 may be implemented by a computing system installed at a building,such as a warehouse, where the deployment system(s) 314 and UAV(s) 304that are associated with the particular local dispatch system 312 arealso located. In other embodiments, the local dispatch system 312 may beimplemented at a location that is remote to its associated deploymentsystem(s) 314 and UAV(s) 304.

Numerous variations on and alternatives to the illustrated configurationof the UAV system 300 are possible. For example, in some embodiments, auser of the remote device 306 could request delivery of a packagedirectly from the central dispatch system 310. To do so, an applicationmay be implemented on the remote device 306 that allows the user toprovide information regarding a requested delivery, and generate andsend a data message to request that the UAV system 300 provide thedelivery. In such an embodiment, the central dispatch system 310 mayinclude automated functionality to handle requests that are generated bysuch an application, evaluate such requests, and, if appropriate,coordinate with an appropriate local dispatch system 312 to deploy aUAV.

Further, some or all of the functionality that is attributed herein tothe central dispatch system 310, the local dispatch system(s) 312, theaccess system 302, and/or the deployment system(s) 314 may be combinedin a single system, implemented in a more complex system, and/orredistributed among the central dispatch system 310, the local dispatchsystem(s) 312, the access system 302, and/or the deployment system(s)314 in various ways.

Yet further, while each local dispatch system 312 is shown as having twoassociated deployment systems 314, a given local dispatch system 312 mayalternatively have more or fewer associated deployment systems 314.Similarly, while the central dispatch system 310 is shown as being incommunication with two local dispatch systems 312, the central dispatchsystem 310 may alternatively be in communication with more or fewerlocal dispatch systems 312.

In a further aspect, the deployment systems 314 may take various forms.In general, the deployment systems 314 may take the form of or includesystems for physically launching one or more of the UAVs 304. Suchlaunch systems may include features that provide for an automated UAVlaunch and/or features that allow for a human-assisted UAV launch.Further, the deployment systems 314 may each be configured to launch oneparticular UAV 304, or to launch multiple UAVs 304.

The deployment systems 314 may further be configured to provideadditional functions, including for example, diagnostic-relatedfunctions such as verifying system functionality of the UAV, verifyingfunctionality of devices that are housed within a UAV (e.g., a payloaddelivery apparatus), and/or maintaining devices or other items that arehoused in the UAV (e.g., by monitoring a status of a payload such as itstemperature, weight, etc.).

In some embodiments, the deployment systems 314 and their correspondingUAVs 304 (and possibly associated local dispatch systems 312) may bestrategically distributed throughout an area such as a city. Forexample, the deployment systems 314 may be strategically distributedsuch that each deployment system 314 is proximate to one or more payloadpickup locations (e.g., near a restaurant, store, or warehouse).However, the deployment systems 314 (and possibly the local dispatchsystems 312) may be distributed in other ways, depending upon theparticular implementation. As an additional example, kiosks that allowusers to transport packages via UAVs may be installed in variouslocations. Such kiosks may include UAV launch systems, and may allow auser to provide their package for loading onto a UAV and pay for UAVshipping services, among other possibilities. Other examples are alsopossible.

In a further aspect, the UAV system 300 may include or have access to auser-account database 316. The user-account database 316 may includedata for a number of user accounts, and which are each associated withone or more person. For a given user account, the user-account database316 may include data related to or useful in providing UAV-relatedservices. Typically, the user data associated with each user account isoptionally provided by an associated user and/or is collected with theassociated user's permission.

Further, in some embodiments, a person may be required to register for auser account with the UAV system 300, if they wish to be provided withUAV-related services by the UAVs 304 from UAV system 300. As such, theuser-account database 316 may include authorization information for agiven user account (e.g., a user name and password), and/or otherinformation that may be used to authorize access to a user account.

In some embodiments, a person may associate one or more of their deviceswith their user account, such that they can access the services of UAVsystem 300. For example, when a person uses an associated mobile phone,e.g., to place a call to an operator of the access system 302 or send amessage requesting a UAV-related service to a dispatch system, the phonemay be identified via a unique device identification number, and thecall or message may then be attributed to the associated user account.Other examples are also possible.

FIGS. 4A, 4B, and 4C show a UAV 400 that includes a payload deliverysystem 410 (could also be referred to as a payload delivery apparatus),according to an example embodiment. As shown, payload delivery system410 for UAV 400 includes a tether 402 coupled to a spool 404, a payloadlatch 406, and a payload 408 coupled to the tether 402 via a payloadcoupling apparatus 412. The payload latch 406 can function toalternately secure payload 408 and release the payload 408 upondelivery. For instance, as shown, the payload latch 406 may take theform of one or more pins that can engage the payload coupling apparatus412 (e.g., by sliding into one or more receiving slots in the payloadcoupling apparatus 412). Inserting the pins of the payload latch 406into the payload coupling apparatus 412 may secure the payload couplingapparatus 412 within a receptacle 414 on the underside of the UAV 400,thereby preventing the payload 408 from being lowered from the UAV 400.In some embodiments, the payload latch 406 may be arranged to engage thespool 404 or the payload 408 rather than the payload coupling apparatus412 in order to prevent the payload 408 from lowering. In otherembodiments, the UAV 400 may not include the payload latch 406, and thepayload delivery apparatus may be coupled directly to the UAV 400.

In some embodiments, the spool 404 can function to unwind the tether 402such that the payload 408 can be lowered to the ground with the tether402 and the payload coupling apparatus 412 from UAV 400. The payload 408may itself be an item for delivery, and may be housed within (orotherwise incorporate) a parcel, container, or other structure that isconfigured to interface with the payload latch 406. In practice, thepayload delivery system 410 of UAV 400 may function to autonomouslylower payload 408 to the ground in a controlled manner to facilitatedelivery of the payload 408 on the ground while the UAV 400 hoversabove.

As shown in FIG. 4A, the payload latch 406 may be in a closed position(e.g., pins engaging the payload coupling apparatus 412) to hold thepayload 408 against or close to the bottom of the UAV 400, or evenpartially or completely inside the UAV 400, during flight from a launchsite to a target location 420. The target location 420 may be a point inspace directly above a desired delivery location. Then, when the UAV 400reaches the target location 420, the UAV's control system (e.g., thetether control module 216 of FIG. 2 ) may toggle the payload latch 406to an open position (e.g., disengaging the pins from the payloadcoupling apparatus 412), thereby allowing the payload 408 to be loweredfrom the UAV 400. The control system may further operate the spool 404(e.g., by controlling the motor 222 of FIG. 2 ) such that the payload408, secured to the tether 402 by a payload coupling apparatus 412, islowered to the ground, as shown in FIG. 4B.

Once the payload 408 reaches the ground, the control system may continueoperating the spool 404 to lower the tether 402, causing over-run of thetether 402. During over-run of the tether 402, the payload couplingapparatus 412 may continue to lower as the payload 408 remainsstationary on the ground. The downward momentum and/or gravitationalforces on the payload coupling apparatus 412 may cause the payload 408to detach from the payload coupling apparatus 412 (e.g., by sliding offa hook of the payload coupling apparatus 412). After releasing payload408, the control system may operate the spool 404 to retract the tether402 and the payload coupling apparatus 412 toward the UAV 400. Once thepayload coupling apparatus reaches or nears the UAV 400, the controlsystem may operate the spool 404 to pull the payload coupling apparatus412 into the receptacle 414, and the control system may toggle thepayload latch 406 to the closed position, as shown in FIG. 4C.

In some embodiments, when lowering the payload 408 from the UAV 400, thecontrol system may detect when the payload 408 and/or the payloadcoupling apparatus 412 has been lowered to be at or near the groundbased on an unwound length of the tether 402 from the spool 404. Similartechniques may be used to determine when the payload coupling apparatus412 is at or near the UAV 400 when retracting the tether 402. As notedabove, the UAV 400 may include an encoder for providing data indicativeof the rotation of the spool 404. Based on data from the encoder, thecontrol system may determine how many rotations the spool 404 hasundergone and, based on the number of rotations, determine a length ofthe tether 402 that is unwound from the spool 404. For instance, thecontrol system may determine an unwound length of the tether 402 bymultiplying the number of rotations of the spool 404 by thecircumference of the tether 402 wrapped around the spool 404. In someembodiments, such as when the spool 404 is narrow or when the tether 402has a large diameter, the circumference of the tether 402 on the spool404 may vary as the tether 402 winds or unwinds from the tether, and sothe control system may be configured to account for these variationswhen determining the unwound tether length.

In other embodiments, the control system may use various types of data,and various techniques, to determine when the payload 408 and/or payloadcoupling apparatus 412 have lowered to be at or near the ground.Further, the data that is used to determine when the payload 408 is ator near the ground may be provided by sensors on UAV 400, sensors on thepayload coupling apparatus 412, and/or other data sources that providedata to the control system.

In some embodiments, the control system itself may be situated on thepayload coupling apparatus 412 and/or on the UAV 400. For example, thepayload coupling apparatus 412 may include logic module(s) implementedvia hardware, software, and/or firmware that cause the UAV 400 tofunction as described herein, and the UAV 400 may include logicmodule(s) that communicate with the payload coupling apparatus 412 tocause the UAV 400 to perform functions described herein.

FIG. 5A shows a perspective view of a payload delivery apparatus 500including payload 510, according to an example embodiment. The payloaddelivery apparatus 500 is positioned within a fuselage of a UAV (notshown) and includes a winch 514 powered by motor 512, and a tether 502spooled onto winch 514. The tether 502 is attached to a payload couplingapparatus or payload retriever 800 positioned within a payload couplingapparatus receptacle 516 positioned within the fuselage of the UAV (notshown). A payload 510 is secured to the payload coupling apparatus 800.In this embodiment a top portion 517 of payload 510 is secured withinthe fuselage of the UAV. A locking pin 570 is shown extending throughhandle 511 attached to payload 510 to positively secure the payloadbeneath the UAV during high speed flight.

FIG. 5B is a cross-sectional side view of payload delivery apparatus 500and payload 510 shown in FIG. 5A. In this view, the payload couplingapparatus is shown tightly positioned with the payload couplingapparatus receptacle 516. Tether 502 extends from winch 514 and isattached to the top of payload coupling apparatus 800. Top portion 517of payload 510 is shown positioned within the fuselage of the UAV (notshown) along with handle 511.

FIG. 5C is a side view of payload delivery apparatus 500 and payload 510shown in FIGS. 5A and 5B. The top portion 517 of payload 510 is shownpositioned within the fuselage of the UAV. Winch 514 has been used towind in tether 502 to position the payload coupling apparatus withinpayload coupling apparatus receptacle 516. FIGS. 5A-C disclose payload510 taking the shape of an aerodynamic hexagonally-shaped tote, wherethe base and side walls are six-sided hexagons and the tote includesgenerally pointed front and rear surfaces formed at the intersections ofthe side walls and base of the tote providing an aerodynamic shape.

FIG. 6A is a perspective view of payload coupling apparatus 800,according to an example embodiment. Payload coupling apparatus 800includes tether mounting point 802, and a slot 808 to position a handleof a payload handle in. Lower lip, or hook, 806 is positioned beneathslot 808. Also included is an outer protrusion 804 having helical camsurfaces 804 a and 804 b that are adapted to mate with corresponding cammating surfaces within a payload coupling apparatus receptaclepositioned with a fuselage of a UAV.

FIG. 6B is a side view of payload coupling apparatus 800 shown in FIG.6A. Slot 808 is shown positioned above lower lip, or hook, 806. As shownlower lip or hook 806 has an outer surface 806 a that is undercut suchthat it does not extend as far outwardly as an outer surface above slot805 so that the lower lip or hook 806 will not reengage with the handleof the payload after it has been decoupled, or will not get engaged withpower lines or tree branches during retrieval to the UAV.

FIG. 6C is a front view of payload coupling apparatus 800 shown in FIGS.6A and 6B. Lower lip or hook 806 is shown positioned beneath slot 808that is adapted for securing a handle of a payload.

FIG. 7 is a perspective view of payload coupling apparatus 800 shown inFIGS. 6A-6C, prior to insertion into a payload coupling apparatusreceptacle 516 positioned in the fuselage 550 of a UAV. As notedpreviously payload coupling apparatus 800 includes a slot 808 positionedabove lower lip or hook 806, adapted to receive a handle of a payload.The fuselage 550 of the payload delivery system 500 includes a payloadcoupling apparatus receptacle 516 positioned within the fuselage 550 ofthe UAV. The payload coupling apparatus 800 includes an outer protrusion810 have helical cammed surfaces 810 a and 810 b that meet in a roundedapex. The helical cammed surfaces 810 a and 810 b are adapted to matewith surfaces 530 a and 530 b of an inward protrusion 530 positionedwithin the payload coupling apparatus receptacle 516 positioned withinfuselage 550 of the UAV. Also included is a longitudinal recessedrestraint slot 540 positioned within the fuselage 550 of the UAV that isadapted to receive and restrain a top portion of a payload (not shown).As the payload coupling apparatus 800 is pulled into to the payloadcoupling apparatus receptacle 516, the cammed surfaces 810 a and 810 bof outer protrusion 810 engage with the cammed surfaces 530 a and 530 bwithin the payload coupling apparatus receptacle 516 and the payloadcoupling apparatus 800 is rotated into a desired alignment within thefuselage 550 of the UAV.

FIG. 8 is another perspective view of an opposite side of payloadcoupling apparatus 800 shown in FIGS. 6A-6C, prior to insertion into apayload coupling apparatus receptacle 516 positioned in the fuselage 550of a UAV. As shown, payload coupling apparatus 800 include a lower lipor hook 806. An outer protrusion 804 is shown extending outwardly fromthe payload coupling apparatus having helical cammed surfaces 804 a and804 b adapted to engage and mate with cammed surfaces 530 a and 530 b ofinner protrusion 530 positioned within payload coupling apparatusreceptacle 516 positioned within fuselage 550 of payload delivery system500. It should be noted that the cammed surfaces 804 a and 804 b meet ata sharp apex, which is asymmetrical with the rounded or blunt apex ofcammed surfaces 810 a and 810 b shown in FIG. 7 . In this manner, therounded or blunt apex of cammed surfaces 810 a and 810 b preventpossible jamming of the payload coupling apparatus 800 as the cammedsurfaces engage the cammed surfaces 530 a and 530 b positioned withinthe payload coupling apparatus receptacle 516 positioned within fuselage550 of the UAV. In particular, cammed surfaces 804 a and 804 b arepositioned slightly higher than the rounded or blunt apex of cammedsurfaces 810 a and 810 b. As a result, the sharper tip of cammedsurfaces 804 a and 804 b engages the cammed surfaces 530 a and 530 bwithin the payload coupling apparatus receptacle 516 positioned withinthe fuselage 550 of payload delivery system 500, thereby initiatingrotation of the payload coupling apparatus 800 slightly before therounded or blunt apex of cammed surfaces 810 a and 810 b engage thecorresponding cammed surfaces within the payload coupling apparatusreceptacle 516. In this manner, the case where both apexes (or tips) ofthe cammed surfaces on the payload coupling apparatus end up on the sameside of the receiving cams within the payload coupling apparatusreceptacle is prevented. This scenario results in a prevention of thejamming of the payload coupling apparatus within the receptacle.

FIG. 9 shows a perspective view of a recessed restraint slot and payloadcoupling apparatus receptacle positioned in a fuselage of a UAV. Inparticular, payload delivery system 500 includes a fuselage 550 having apayload coupling apparatus receptacle 516 therein that includes inwardprotrusion 530 having cammed surfaces 530 a and 530 b that are adaptedto mate with corresponding cammed surfaces on a payload couplingapparatus (not shown). Also included is a longitudinally extendingrecessed restrained slot 540 into which a top portion of a payload isadapted to be positioned and secured within the fuselage 550.

FIG. 10A shows a side view of a payload delivery apparatus 500 with ahandle 511 of payload 510 secured within a payload coupling apparatus800 as the payload 510 moves downwardly prior to touching down fordelivery. Prior to payload touchdown, the handle 511 of payload 510includes a hole 513 through which a lower lip or hook of payloadcoupling apparatus 800 extends. The handle sits within a slot of thepayload coupling apparatus 800 that is suspended from tether 502 ofpayload delivery system 500 during descent of the payload 510 to alanding site.

FIG. 10B shows a side view of payload delivery apparatus 500 afterpayload 510 has landed on the ground showing payload coupling apparatus800 decoupled from handle 511 of payload 510. Once the payload 510touches the ground, the payload coupling apparatus 800 continues to movedownwardly (as the winch further unwinds) through inertia or gravity anddecouples the lower lip or hook 808 of the payload coupling apparatus800 from handle 511 of payload 510. The payload coupling apparatus 800remains suspended from tether 502, and can be winched back up to thepayload coupling receptacle of the UAV.

FIG. 10C shows a side view of payload delivery apparatus 500 withpayload coupling apparatus 800 moving away from handle 511 of payload510. Here the payload coupling apparatus 800 is completely separatedfrom the hole 513 of handle 511 of payload 510. Tether 502 may be usedto winch the payload coupling apparatus back to the payload couplingapparatus receptacle positioned in the fuselage of the UAV.

FIG. 11A is a side view of handle 511 of payload 510. The handle 511includes an aperture 513 through which the lower lip or hook of apayload coupling apparatus extends through to suspend the payload duringdelivery, or for retrieval. The handle 511 includes a lower portion 515that is secured to the top portion of a payload. Also included are holes524 and 526 through which locking pins positioned within the fuselage ofa UAV, may extend to secure the handle and payload in a secure positionduring high speed forward flight to a delivery location. In addition,holes 524 and 526 are also designed for pins of a payload holder toextend therethrough to hold the payload in position for retrieval on apayload retrieval apparatus. The handle may be comprised of a thin,flexible plastic material that is flexible and provides sufficientstrength to suspend the payload beneath a UAV during forward flight to adelivery site, and during delivery and/or retrieval of a payload. Inpractice, the handle may be bent to position the handle within a slot ofa payload coupling apparatus. The handle 511 also has sufficientstrength to withstand the torque during rotation of the payload couplingapparatus into the desired orientation within the payload couplingapparatus receptacle, and rotation of the top portion of the payloadinto position with the recessed restraint slot.

FIG. 11B is a side view of handle 511′ of payload 510. The handle 511′includes an aperture 513 through which the lower lip or hook of apayload coupling apparatus extends through to suspend the payload duringdelivery, or for retrieval. The handle 511′ includes a lower portion 515that is secured to the top portion of a payload. Also included aremagnets 524′ and 526′ adapted for magnetic engagement with correspondingmagnets (or a metal) of a payload holder to secure the payload to thepayload holder in position for retrieval on a payload retrievalapparatus. In some examples, magnets 524′ and 526′ are provided on ahandle (e.g., handle 511 or 511′) in place of holes 524 and 526. Inother examples, magnets 524′ and 526′ are provided in addition to holes524 and 526.

FIG. 12 shows a pair of pins 570, 572 extending through holes 524 and526 in handle 511 of payload 510 to secure the handle 511 and topportion of payload 510 within the fuselage of a UAV, or to securepayload 510 to a payload holder of a payload retrieval apparatus. Inthis manner, the handle 511 and payload 510 may be secured within thefuselage of a UAV, or to a payload holder of a payload retrievalapparatus. In this embodiment, the pins 570 and 572 have a conical shapeso that they pull the package up slightly or at least remove anydownward slack present. In some embodiments the pins 570 and 572 maycompletely plug the holes 524 and 526 of the handle 511 of payload 510,to provide a secure attachment of the handle and top portion of thepayload within the fuselage of the UAV, or to secure the payload to apayload retrieval apparatus. Although the pins are shown as conical, inother applications they may have other geometries, such as a cylindricalgeometry.

FIGS. 13A and 13B show various views of payload coupling apparatus orpayload retriever 800′ which is a variation of payload couplingapparatus 800 described above. Payload coupling apparatus 800′ includesthe same exterior features as payload coupling apparatus 800. However,in payload coupling apparatus 800′, lower lip or hook 806′ is extendableand retractable. As shown in FIG. 13A, payload coupling 800′ is in aretracted state where end 806 a′ of lip or hook 806′ is positionedinwardly from outer wall 807 of capsule housing 805. In FIG. 13B,payload coupling apparatus 800′ is in an extended state where end 806 a′of lip or hook 806′ has been moved outwardly from capsule housing 805such that the end 806 a of the lip or hook 806′ is positioned outwardlyfrom outer wall 807 of capsule housing 805. Lip of hook 806′ may bemoved outwardly via cams or protrusions within channel 1050, or by aspring-loaded portion of channel 1050, or other mechanisms. In theextended state shown in FIG. 13B, the hook or lip 806′ is in position toeasily extend through the aperture 513 in handle 511 of payload 510,such that the handle 511 is positioned within slot 808 of payloadcoupling apparatus 800′ and retrieval of the payload and removal fromthe payload holder of the payload retrieval apparatus can be achieved.Once the payload 510 is removed from the payload holder the hook or lip806′ may be moved back to its retracted state as shown in FIG. 13A.

FIG. 13C is a side view of payload coupling apparatus 800″ which in thisillustrative embodiment is similar to payload coupling apparatus 800shown in FIGS. 6A-6C, but instead includes a plurality of magnets 830positioned thereon. The plurality of magnets 830 are adapted tomagnetically engage a plurality of magnets 1060 (or a metal) positionedwithin the channel 1050 of a payload retrieval apparatus 1000 as shownin FIG. 20 below to orient the payload coupling apparatus 800″ withinthe channel 1050 of payload retrieval apparatus 1000 so that the hook orlip 806 a is in proper position to extend through aperture 513 of handle511 of payload 510 to effect removal of payload 510 from the payloadholder of payload retrieval apparatus 1000.

FIG. 13D is a side view of payload coupling apparatus 900 which in thisillustrative embodiment is similar to payload coupling apparatus 800″shown in FIG. 6C, but instead includes a weighted side 840. The weightedside 840 serves to orient the payload coupling apparatus 900 within thechannel 1050 of payload retrieval apparatus 1000 so that the hook or lip806 a is in proper position to extend through aperture 513 of handle 511of payload 510 to effect removal of payload 510 from the payload holderof payload retrieval apparatus 1000.

In each of the payload coupling apparatuses 800, 800′, 800″, and 900described above, the upper and lower ends are rounded, orhemispherically shaped, to prevent the payload coupling apparatus fromsnagging during descent from, or retrieval to, the fuselage of a UAV.Furthermore, each of payload coupling apparatuses 800, 800″, and 900 mayhave a retractable and extendable hook or lip as is shown in FIGS. 13Aand 13B with regard to payload coupling apparatus 800′.

In addition, as illustrated in FIG. 9 , the payload delivery system mayautomatically align the top portion of the payload during winch up,orienting it for minimum drag along the aircraft's longitudinal axis.This alignment enables high speed forward flight after pick up. Thealignment is accomplished through the shape of the payload hook andreceptacle. In the payload coupling apparatus 800, the lower lip or hook806 has cam features around its perimeter which always orient it in adefined direction when it engages into the cam features inside thereceptacle of the fuselage of the UAV. The tips of the cam shapes onboth sides of the capsule are asymmetric to prevent jamming in the 90degree orientation. In this regard, helical cam surfaces may meet at anapex on one side of the payload coupling mechanism, and helical camsurfaces may meet at a rounded apex on the other side of the payloadcoupling mechanism. The hook is specifically designed so that thepackage hangs in the centerline of the hook, enabling alignment in bothdirections from 90 degrees.

Payload coupling apparatuses 800, 800′, 800″, and 900 include a hook 806(or 806′) formed beneath a slot 808 such that the hook also releases thepayload passively and automatically when the payload touches the groundupon delivery. This is accomplished through the shape and angle of thehook slot and the corresponding handle on the payload. The hook slidesoff the handle easily when the payload touches down due to the mass ofthe capsule and also the inertia wanting to continue moving the capsuledownward past the payload. The end of the hook is designed to berecessed slightly from the body of the capsule, which prevents the hookfrom accidentally re-attaching to the handle. After successful release,the hook gets winched back up into the aircraft.

FIGS. 14-16 are perspective views of payload retrieval apparatus 1000having a payload 510 positioned thereon, according to an exampleembodiment. The payload retrieval apparatus 1000 may be a non-permanentstructure placed at a payload retrieval site. The apparatus includes anextending member 1010 that may be secured to a base or stand 1012 at alower end of the extending member 1010. Alternately, the extendingmember 1010 may have a lower end that may be positioned within acorresponding hole in the ground or hole in an apparatus positioned onthe ground. The payload retrieval apparatus 1000 may be readily foldedup, like an umbrella stand, to provide for ease of transport. Inaddition, because of its non-permanent configuration, payload retrievalapparatus 1000 may not require any type permitting, which may not be thecase for a permanent device used for UAV loading and unloading.

An angled extender 1020 may be attached at an upper end of the extendingmember 1010, and adapter 1016 may be used to adjust the height or angleof the angled extender 1020, and having a threaded set screw with knob1018 to set the angled extender 1020 into a desired position. The angledextender 1020 is shown with an upper end secured to a channel 1050. Afirst end of the channel may have a first extension or tether engager1040 that extends in a first direction from a lower end of the channel1050 and a second extension or tether engager 1030 that extends in asecond direction from the lower end of the channel 1050. A second end ofthe channel 1050 may have a payload holder 570, 572 positioned near orthereon that is adapted to secure a payload 510 to the second end of thechannel 1050.

A shield 1042 is shown extending from the first tether engager 1040, andanother shield 1032 is shown extending from the second tether engager1030. Shield 1042 and 1032 may be made of a fabric material, or othermaterial such as rubber or plastic. A shield 1052 is also shownextending from the first end of channel 1050. Shields 1042, 1032, and1052 serve to prevent a payload retriever 800 extending from an end of atether 1200 attached to a UAV from wrapping around the tether engagers1040 and 1030 or other components of payload retrieval apparatus 1000when the payload retriever comes into contact with tether engagers 1040or 1030 during a payload retrieval operation.

Channel 1050 includes a tether slot 1054 extending from a first end to asecond end of the channel 1050, and the tether slot 1054 allows for apayload retriever to be positioned within the channel 1050 attached to atether which extends through the tether slot 1054. A payload holder isshown that is a pair of pins 570, 572 that extend through openings inhandle 511 of payload 510 to suspend payload 510 in position adjacentthe second end of the channel 1050 ready to be retrieved by a payloadretriever attached to a tether suspended from a UAV.

To provide for automatic retrieval of payload 510 with a payloadretriever suspended from a UAV with a tether, payload 510 is secured tothe payload holder 570, 572 on the second end of the channel 1050 at thepayload retrieval site. A UAV arrives at the payload retrieval site witha tether 1200 extending downwardly from the UAV and with the payloadretriever 800 positioned on the end of the tether, as shown in FIGS. 14and 17 . The UAV approaches the payload retrieval apparatus 1000, and asit nears the payload retrieval apparatus 1000, the tether 1200 comesinto contact with the first or second extension (tether engager) 1040,1030. As the UAV moves forward, or the UAV is moved upwardly, or thepayload retriever is winched upwardly to the UAV while the UAV ishovering in place (or any combination thereof), the tether slidesinwardly along the first or second extension 1040, 1030 where it isdirected towards the first end of the channel 1050. With further forwardor upward movement of the UAV, or upward winching of the payloadretriever, the tether 1200 moves through the tether slot 1054 of channel1050 and eventually the payload retriever 800 attached to the tether1200 is pulled into the channel 1050 by the tether. The payloadretriever 800 is pulled through the channel 1050 where it engages, andsecures, the payload 510 secured to the payload holder 570, 572. Thepayload retriever 800 then pulls the payload 510 free from the payloadholder 570, 572. Once the payload 510 is free from the payload holder570, 572, the payload 510 may be winched upwardly into secure engagementwith the UAV, and the UAV may continue on to a delivery site where thepayload 510 may be delivered by the UAV.

FIG. 17 shows a sequence of steps A-D performed in the retrieval ofpayload 510 from payload retrieval apparatus 1000, shown in FIGS. 14-16. A payload retriever, shown in FIG. 17 as payload coupling apparatus800 having a hook or lip 806 positioned beneath slot 808, is attached toan end of tether 1200 which is in turn to attached to a UAV. At point Ain the sequence of steps shown from right to left, payload retriever 800is shown suspended at the end of tether 1200 at a position below theheight of tether engagers 1040 and 1030. Payload retriever 800 andtether 1200 move towards the payload retrieval apparatus 1000, wheretether 1200 contacts tether engager 1040 or tether engager 1030, andtether 1200 and payload retriever 800 move towards channel 1050 untilpayload retriever 800 is positioned just outside of channel 1050 shownat point B in the sequence. With further forward or upward movement ofthe UAV, or upward winching of payload retriever 800 (or any combinationthereof), tether 1200 extends through tether slot 1054 of channel 1050and payload retriever 800 is positioned within channel 1050 as shown atpoint C of the sequence. With further forward or upward movement of theUAV, or upward winching of the payload retriever 800 (or any combinationthereof), payload retriever 800 exits channel 1050 and hook or lip 806of payload retriever 800 engages handle 511 of payload 510 and removespayload 510 from payload holder 570, 572 positioned on the end of thechannel 1050. After removal of payload 510 from payload holder 570, 572of payload retrieval apparatus 1000, at point D of the sequence, payload510 is suspended from tether 1200 with handle 511 of payload 510positioned in slot 808 above hook or lip 806 of payload retriever 800,where payload 510 may be winched up to the UAV and flown for subsequentdelivery at a payload delivery site.

FIG. 18 is a perspective view of payload retrieval apparatus 1000 shownin FIGS. 14-17 with a payload loading apparatus 1080 having a pluralityof payloads 510-2 and 510-3 positioned thereon, according to an exampleembodiment. Payload loading apparatus 1080 includes a platform 1082positioned on platform base 1086 having an upper surface 1084 thatdownwardly slopes towards payload retrieval apparatus 1000. Payloadloading apparatus 1080 allows for automatic loading of a subsequentpayload positioned on upper surface 1084 of payload loading apparatus1080 onto payload retrieval apparatus 1000 after a payload positioned onthe payload holder has been retrieved. In particular, once payload 510-1has been removed from payload holder 570, 572 of payload retrievalapparatus 1000, subsequent payload 510-2 slides down the upper surface1084 of the payload loading apparatus 1080 and is secured to payloadholder 570, 572 of payload retrieval apparatus 1000. Payload loadingapparatus 1080 may include one or more rollers 1088 that provide for thedownward movement of upper surface 1084, like a conveyor belt.

As shown in FIG. 18 , the handle 511 of payload 510-1 has openings 524and 526 (see FIG. 11A) through which pins 570, 572 extend to holdpayload 510-1 in position for retrieval. However, handle 511 may alsoinclude magnets 524′ and 526′ (see FIG. 11B) that are adapted tomagnetically engage corresponding magnets or a metal positioned on thepayload holder of the payload retrieval apparatus 1000. With a magnetichandle, the magnets 524′ and 526′ on the handle 511 move into engagementwith the payload holder to hold subsequent payload 510-2 into positionfor subsequent retrieval as illustrated in the sequence of steps atpoints A-D shown in FIG. 17 . In addition, payloads 510-1 through 510-3may include fiducials 585 that may take the form of an RFID tag or barcode to identify the contents of the payload and delivery siteinformation and/or delivery instructions. As a result, using payloadloading apparatus 1080 in conjunction with payload retrieval apparatus1000, a plurality of payloads may be retrieved from payload apparatus1000 without the need for a person to reload subsequent payloads forretrieval, providing for further automated payload retrieval.

In order for the hook or lip 806 of the payload retriever 800 (shown inFIGS. 6A-C) to engage the handle 511 of payload 510 to effect removaland retrieval of the payload 510 from the payload retrieval apparatus1000, the hook or lip 806 should be positioned downwardly when it exitsthe channel 1050 in the embodiment shown (different orientations arepossible in alternate embodiments). As illustrated in FIG. 19 , toensure that the slot hook or lip 806 of the payload retriever 800 is ina proper orientation as the payload retriever 800 exits the channel 1050and engages the handle 511 of the payload 510, the payload retriever 800may be provided with exterior cams 804 or slots that correspond to camsor slots 1058, 1059 positioned on an interior surface of the channel1050. The interaction of the cams 804 or slots on the payload retriever800 and cams or slots 1058, 1059 on the interior of the channel 1050properly orient the payload retriever 800 within the channel 1050 suchthat hook or lip 806 beneath the slot 808 of the payload retriever 800is in proper position to extend through the aperture 513 on the handle511 of the payload 510 to remove the payload 510 from the payload holder570, 572.

FIG. 19 is a perspective view of channel 1050 of the payload retrievalapparatus 1000 shown in FIGS. 14-16 with a payload retriever 800positioned therein. Channel 1050 includes a tether slot 1054 throughwhich tether 1200 extends when tether 1200 draws payload retriever 800into the interior of channel 1050. The interior of channel 1050 includescams or slots 1058, 1059 which cooperate with cams 804 or slots on thepayload retriever 800 to properly orient the hook or lip 806 and slot808 in a downward facing position within the channel 1050. Thus, theinteraction of cams or slots 1058, 1059 on the interior of channel 1050with cams 804 or slots on the payload retriever 800 provides a desiredorientation of the payload retriever 800 at the point that payloadretriever 800 exits the channel 1050 and engages handle 511 of payload510 to remove the payload 510 from the payload holder 570, 572.

Alternately, or in addition to cams 804, the payload retriever 800″ mayhave one or more magnets 830 positioned thereon as shown in FIG. 13C and20 that cooperate with one or more magnets 1060, or a metal, positionedon an interior of the channel 1050 and magnetic interaction is used toproperly orient the payload retriever 800″ within the channel 1050during the process of payload retrieval.

FIG. 20 is a perspective view of channel 1050 of the payload retrievalapparatus 1000 shown in FIGS. 14-16 with a payload retriever 800″positioned therein. Channel 1050 includes a tether slot 1054 throughwhich tether 1200 extends when tether 1200 draws payload retriever 800″into the interior 1056 of channel 1050. The interior 1056 of channel1050 includes a plurality of magnets 1060 which magnetically engage withmagnets 830, or a metal, on the payload retriever 800″ to properlyorient the hook or lip 806 and slot 808 in a downward facing positionwithin the channel 1050. Thus, the interaction of magnets 1060 on theinterior 1056 of channel 1050 with magnets 830 or simply a metal on thepayload retriever 800″ provides a desired orientation of the payloadretriever 800″ at the point that payload retriever 800″ exits thechannel 1050 and engages handle 511 of payload 510 to remove the payload510 from the payload holder 570, 572. Alternatively, or in addition, ametal strip or plurality of metal pieces could be positioned within thechannel 1050 to provide for magnetic engagement with the magnets 830 onthe payload retriever 800″ Similarly, one or more magnets may bepositioned on the interior of channel 1050 that magnetically engage ametal positioned on a payload retriever.

In addition, the payload retriever could be weighted to have an offsetcenter of gravity (see payload retriever 900 shown in FIG. 13D) suchthat the hook 806 and slot 808 of the payload retriever 900 arepositioned properly (with the “heavy” portion of the capsule on a lowerside) to engage the handle 511 of the payload 510 and effect removal ofthe payload 510 from the payload holder 570, 572. The weighted side 840of payload retriever 900 helps to insure that the hook or lip 806 andslot 808 are positioned downwardly within the channel 1050 so as to bein position for the hook or lip 806 to extend through aperture 513 inhandle 511 of payload 510 during the retrieval process. It will beappreciated that the use of cams, magnets, and a weighted side could allbe used separately, or used in combination in whole or in part, toprovide for a desired orientation of the payload retriever within thechannel to effect removal of the payload from the payload retrievalapparatus 1000.

As shown in FIG. 21A, the channel 1050 may also have an interior thattapers downwardly, or decreases in size, as the channel 1050 extendsfrom the first end where the payload retriever enters the interior 1056of channel 1050 to the second end where the payload retriever exits thechannel 1050 to further facilitate the proper orientation of the payloadretriever within the channel. In addition, as shown in FIG. 21B, thesecond end of the channel 1050 could be spring loaded with a spring 1061exerting a force against outer surface 1057 of channel 1050, or operateas a leaf spring, to also facilitate the proper orientation of thepayload retriever (or extension or the hook or lip of the payloadretriever) at the point of payload retrieval.

Not only does the payload retrieval apparatus 1000 described aboveprovide for automatic payload retrieval without the need for humaninvolvement, but the UAV advantageously is not required to land for thepayload 510 to be loaded onto the UAV at the payload retrieval site.Thus, the UAV may simply fly into position near the payload retrievalapparatus 1000 and maneuver itself to position the tether 1200 betweenthe first and second tether engagers 1040, 1030, which may be aided bythe use of fiducials (which could take the form of an RFID tag or barcode) positioned on or near the payload retrieval apparatus 1000 and/oran onboard camera system positioned on the UAV. Once in position, theUAV may then move forward or upward, or the payload retriever may bewinched up towards the UAV (or any combination thereof) to pull thepayload retriever through the channel 1050 and into engagement with thehandle 511 of the payload 510 and effect removal of the payload 510. Insome payload retrieval sites, landing the UAV may be difficult orimpractical, and also may engage with objects or personnel when landing.Accordingly, allowing for payload retrieval without requiring the UAV toland provides significant advantages over conventional payload retrievalmethods.

FIG. 22 is a side view of payload retrieval apparatus 1400, whichincludes a base 1402 and an upwardly extending member 1404. Alsoincluded is a first sloped surface 1410 and a second sloped surface1420. A first channel 1433 is defined between first sloped surface 1410and surface 1430 and is positioned above upwardly extending member 1404.An opening 1432 is provided to first channel 1433. A payload 510 ispositioned at an end of first channel 1433. A second channel 1424 isprovided having a wall 1422 extending downwardly from second slopedsurface 1420. First and second sloped surfaces 1410 and 1420 provide afunneling system for a payload retrieval 800 attached to a tether 1200and serves to funnel payload retrieval 800 towards opening 1432 in firstchannel 1433.

FIG. 23 is a top view of payload retrieval apparatus 1400. Slopedsurfaces 1460 and 1462 are provided with a tether slot 1450 positionedtherebetween. Opening 1432 to channel 1433 is shown with payload 510positioned beneath sloped surfaces 1460 and 1462.

FIGS. 24A-E illustrate a sequence of steps used to automatically pick uppayload 510. In FIG. 24A, payload retriever 800 attached to tether 1200is shown descending towards the funneling system formed by first slopedsurface 140 and second sloped surface 1420. FIG. 24B illustrates payloadretriever 800 landing on first sloped surface 1410. The payloadretriever will then slide down first sloped surface towards opening 1425between first sloped surface 1410 and second sloped surface 1420. FIG.24C illustrates payload retriever 800 after it has slid down firstsloped surface 1410, through opening 1425 and into second channel 1424.While positioned in second channel 1424, payload retriever 800 ispositioned for entry through opening 1432 into first channel 1433. InFIG. 24D, payload retriever 800 has been winched upwardly into firstchannel 1433, where is it positioned to move further upwardly to securehandle 511 of payload 510. In FIG. 24E, payload retriever 800 has movedfurther upwardly to secure payload retriever 800 to handle 511 ofpayload 510, where payload 510 can be removed from the end of the firstchannel 1433 and winched up to a UAV for transport.

FIG. 25A is a perspective view of payload retrieval apparatus 1480.Payload retrieval apparatus 1480 includes a base 1402 with a crossmember 1406 and truss members 1407 and 1408. Upwardly extending member1404 is attached to base 1402. A first sloped surface 1460 is positionedadjacent second sloped surface 1462 are attached to member 1465(attached to upwardly extending member 1404) with a tether slot 1450positioned therebetween. Opening 1470 extends towards a channelpositioned on member 1465, or beneath the first and second slopedsurfaces 1460 and 1462, which is adapted to receive payload retriever800. First and second sloped surfaces 1460 and 1462 serve as a funnelingsystem to funnel a payload retriever 800 downwardly towards opening1470, where a tether 1200 may move the payload retriever 800 intoposition to extend through opening 1470 into a channel positioned onmember 1465, or beneath the first and second sloped surfaces 1460 and1462, and tether 1200 extends through the tether slot 1450 to draw thepayload retriever 800 towards a payload for automated payload retrieval.The payload retriever 800 may land anywhere on either of the first orsecond sloped surfaces 1460, 1462, and will funnel down until it slidesoff of the sloped surfaces, where the tether 1200 may be drawn throughtether slot 1450 to draw the payload retriever 800 into engagement withthe handle 511 of payload 510. First and second sloped surfaces 1460 and1462 provide a V-shaped funneling system that is downwardly slopedtowards opening 1470. It will be appreciated that the sloped surfaces inpayload retrieval apparatus 1400 and 1480 may have other configurationsand geometries to provide a funneling system for the payload retriever800. The surfaces may be hard or soft, or even made of netting to reducewind load. Furthermore, the surfaces are not required to be flat, butcould be rounded or concave as well.

In addition, the first and second sloped surfaces 1460 and 1462 aredownwardly sloped towards opening 1470 to a channel. The bottoms of thefirst and second sloped surfaces are also positioned at an angle towardsopening 1470. In applications where the payload retriever does not landon either of sloped surfaces 1460 or 1462, the tether 1200 descend infront of opening 1470 and may be drawn towards opening 1470 along theangled lower surfaces of the first and second sloped surfaces 1460 and1462. The tether 1200 may be drawn, or simply slide, down the angledlower surfaces until the tether 1200 is in front of the tether slot1450. At this point, the tether 1200 may be drawn through the tetherslot 1450, thereby drawing the payload retriever 800 into the channel.It should also be noted that first and second sloped surfaces 1460 and1462 not only serve to provide a funneling system to funnel the payloadretriever 800 towards opening 1470, but also serve to block wind fromblowing the payload retriever 800 out of position.

FIG. 25B is a side view of payload retriever apparatus 1480, andincludes cross member 1406, truss 1407, and upwardly extending member1404. Member 1465 extends from upwardly extending member 1404 withsecond sloped surface 1462 positioned thereon. A channel with a curvedportion 1439 is positioned on an end of member 1465, with a payload 510positioned on curved portion 1439 of the channel. Although the channelis positioned beyond second sloped surface 1462, the channel could alsoextend beneath second sloped surface 1462.

FIG. 25C is a side view of an end of the payload retrieval apparatus1480. A channel is shown extending from member 1465 with a payload 510positioned on curved portion 1439.

FIG. 25D is a perspective view of an end of the payload retrievalapparatus 1480. A channel with a curved portion 1439 is positioned on anend of member 1465, with a payload 510 positioned on curved portion 1439of the channel. Handle 511 of payload 510 is positioned on pins 570 and572 extending from curved portion 1439 of the channel.

FIG. 25E shows perspective views of payload retrieval apparatus 1500.Payload retrieval apparatus 1500 includes a base 1510 and upwardlyextending side walls 1520. A first sloped surface 1560 is positionedadjacent second sloped surface 1562 are positioned within side walls1520 with a tether slot 1550 positioned therebetween. Opening 1570extends towards a channel positioned beneath or near the first andsecond sloped surfaces 1560 and 1562 which is adapted to receive payloadretriever 800. First and second sloped surfaces 1560 and 1562 serve as afunneling system to funnel a payload retriever 800 downwardly towardsopening 1570, where a tether 1200 may move the payload retriever 800into position to extend through opening 1570 into a channel beneath ornear the first and second sloped surfaces 1560 and 1562, and tether 1200extends through the tether slot 1550 to draw the payload retriever 800towards a payload for automated payload retrieval.

FIG. 26 is a perspective view of payload retrieval apparatus 1480.Member 1465 is rotatable with respect to upwardly extending member 1404to allow the first and second sloped panels 1460 and 1462 to rotate withthe wind such that the stand 1480 is positioned into the wind to reducethe impact of wind on payload retrieval apparatus 1480. As with anon-rotatable payload retrieval apparatus, first and second slopedsurfaces 1460 and 1462 not only serve to provide a funneling system tofunnel the payload retriever 800 towards opening 1470, but also serve toblock wind from blowing the payload retriever 800 out of position.

FIG. 27A shows perspective views of rotational spring loaded pusher1600. Rotational spring loaded push 1600 is positioned near the end ofchannel 1433 formed between edges 1410 and 1430, with edge 1430 having ashorter length than edge 1410. As the payload retriever 800 exits thechannel 1433, the spring loaded pusher 1600, rotatable about pivot point1620, includes a cam 1610 that initially comes into contact with a topsurface of payload retriever 800. As payload retriever 800 exits channel1433, the spring loaded cam 1610 pushes against a bottom of the payloadretriever 800, to force lip 806 of payload retriever 800 forward intoengagement with handle 511 of payload 510.

FIG. 27B shows a side view of leaf spring 1640. Leaf spring 1640operates in a similar manner to rotational spring loaded pusher 1600. Aspayload retriever 800 exits channel 1433, the leaf spring 1640 pushesagainst a bottom of the payload retriever 800, to force lip 806 ofpayload retriever 800 forward into engagement with handle 511 of payload510. The leaf spring 1640 may be a separate metal spring, or molded-inplastic tabs that deform to impart a spring force on the payloadretriever 800.

FIG. 27C shows a side view of linear spring plunger 1650. Linear plunger1650 includes spring 1654 and protrusion 1652. Linear spring plunger1650 operates in a similar manner to rotational spring loaded pusher1600 and leaf spring 1640. As payload retriever 800 exits channel 1433,the protrusion 1652 of linear spring plunger 1650 pushes against abottom of the payload retriever 800, to force lip 806 of payloadretriever 800 forward into engagement with handle 511 of payload 510.

FIG. 28 is a perspective view of payload retrieval apparatus 1700.Payload retrieval apparatus 1700 provides a bowl-shaped funneling system1720. A payload retriever 800 descends onto the funneling system 1720and slides down through lower opening 1760. The tether 1200 attached tothe payload retriever is drawn through tether slot 1750 until payloadretriever connects with handle 511 of payload 510 to secure the payload510 to payload retriever 800 for removal of payload 510 from the payloadretrieval apparatus 1700. Advantageously, payload retrieval apparatus1700 may accommodate multiple payloads 510. As shown in FIG. 28 , onepayload 510 is positioned in a northern position and another payload 510is shown in a southern position. A second tether slot may be providedfor access to the southern payload 510 such that the payload retriever800 may travel beneath tether slot 1750 to the northern payload 510, orbeneath the second tether slot to pick up the southern payload 510.Additional payloads could also be provided on payload retrievalapparatus 1700. For example, eastern and western payloads could beincluded with corresponding eastern and western tether slots.

FIGS. 29A-B show perspective and side views of spring loaded plunger pin1484. Spring loaded plunger 1484 extends into channel 1433, along withan oppositely disposed plunger pin (not shown). As a payload retriever800 comes into contact with plunger pin 1484, the payload retriever 800is rotated into a desired position such that the lip 806 of the payloadretriever is properly positioned to engage with an opening in the handle511 of the payload upon exiting the channel 1433.

FIGS. 30A-B show side views of protrusions 1519. Protrusions 1519operate in a similar manner to rotational spring loaded pusher 1600,leaf spring 1640, and linear spring plunger 1650 shown in FIGS. 27A-C.As payload retriever 800 exits channel 1433, the protrusions 1519 pushagainst a bottom of the payload retriever 800, to force lip 806 ofpayload retriever 800 forward into engagement with handle 511 of payload510.

FIGS. 31A-B show side and perspective views of curved portion 1439,FIGS. 32A-C show side and perspective view of curved portion 1439, andFIGS. 33A-B show perspective views of curved portion 1439. Channel 1433between edges 1410 and 1430 ends with a curved portion 1439. Payloadretriever 800 initially travels through channel 1433 along centerline ofthe channel. However, curved portion 1439 changes the angle of exit ofpayload retriever 800 from channel 1433. Curved portion 1439 providessignificant advantages over an entirely straight channel. The curvedportion 1439 at the end of the channel 1433 angles the payload retriever800 upon exiting the channel 1433 to have the payload retriever 800“lean back” such that the lip 806 of the payload retriever 800 extendstowards the opening 513 in the handle 511 of the payload 510. The curvedportion 1439 also allows for a top of the payload retriever 800 tocontact the handle 511 such that a portion of the handle 511 over theopening 513 in the handle 511 contacts the payload retriever 800 and theportion over the opening 513 slides down the payload retriever 800 untilthe lip 806 of the payload retriever 800 extends into the opening 513 inthe handle 511 of the payload 510.

In FIG. 32B, payload holder in the form of extending pins 570 and 572are shown. In FIG. 32C, handle 511 of the payload 510 is shownpositioned on extending pins 570 and 572. Lip 806 of payload retriever800 is shown extending through opening 513 in handle 511. The handle 511of the payload 510 itself may act as a spring upon entry of the lip 806into the opening of the handle 511 of the payload 510 to rotate thepayload retriever 800 into the proper position. For example, if therotational position of the payload retriever 800 is off somewhat, thenthe handle 511 of the payload 510 itself may act to rotate the payloadretriever 800 into its desired rotational position. FIGS. 33A and 33Billustrate that the angle of the channel may be altered, for example,between 45 and 60 degrees. The change in angle of the channel can alsoprovide for the positioning of the lip 806 of the payload retriever 800to be in an improved position for the lip 806 to extend into an opening513 in the handle 511 of a payload 510. In particular, when the channelis at a 60 degree angle, the lip 806 of the payload retriever 800extends further outwardly to extend through the opening in handle 511 ofthe payload 510.

FIGS. 34A-E show various perspective views of pivoting carriage 1800.Pivoting carriage 1800 includes payload retrieval holder 1802 thatpivots about pivot 1804. Pivoting carriage 1800 uses payload retrievalholder 1802 to hold payload retriever 800. Payload retrieval holder 1802pivots downwardly about pivot 1804 to place lip 806 of payload retrieverthrough opening 513 in handle 511 of payload 510. After the payloadretriever 800 is secured to handle 511 of payload 510, the payloadretriever 800 may be removed from the payload retriever holder 1802 toremove payload 510 from its position.

FIG. 35 illustrates that a UAV positioned at 7 meters above the groundmay be used to allow a payload retriever 800 to remove payload 510 froma payload retrieval apparatus such as payload retrieval apparatus 1000shown in FIG. 35 .

FIGS. 36-40D shows various views of payload retrieval apparatus 1900.Payload retrieval apparatus 1900 is used for automated payload pickupusing a UAV. A payload 1935 is positioned on a payload holder on a rearend of payload retrieval apparatus 1900. Payload retrieval apparatus1900 includes base 1904, upwardly extending member 1910, and a payloadcoupling apparatus channel 1940 housed within enclosure 1920. Payloadretrieval apparatus 1900 also includes tether engagers 1930 and 1932which are used to engage a tether attached to a payload couplingapparatus, whereafter the payload coupling apparatus is drawn into andthrough the payload coupling apparatus channel 1940 to pick up payload1935. Tether engager 1930 includes member 1933 which provides mechanicalsupport for tether engager 1930, and provides other functions. In thesame manner, tether engager 1932 includes member 1934 which providesmechanical support for tether engager 1932, and provides otherfunctions. Payload retrieval apparatus 1900 provides for automatedpickup of payload 1935, and may operate in the same or a similar manneras payload retrieval apparatuses 1000 and 1480 described above.

Tether engager 1930 includes an upper guide member 1933 that isconfigured to help maintain the end of the tether in a substantiallyvertical orientation as the payload coupling apparatus is drawn throughthe payload coupling apparatus channel 1940. With the inclusion of upperguide member 1933, tether engager 1930 includes both an upper edge and alower edge for guiding the tether as the payload coupling apparatus isreceived and drawn through the payload coupling apparatus channel 1940.The lower edge is formed by the primary member of tether engager 1930and extends toward a receiving end of payload coupling apparatus channel1940. Accordingly, the lower edge of tether engager 1930 directs aportion of the tether that is near the payload coupling apparatus to thereceiving end of the channel 1940.

The upper guide member 1933, on the other hand, extends toward payloadcoupling apparatus channel 1940 at an elevated height compared to thelower edge formed by the primary member of tether engager 1930. Thisallows the upper guide member 1933 to engage a portion of the tetherthat is spaced from the payload coupling apparatus at a position that iselevated above the channel 1940. Accordingly, when the payload couplingapparatus is within the channel 1940, the direction of the portion ofthe tether that extends upward from the channel 1940 will besubstantially vertical. Thus, even if the UAV is laterally offset fromthe position of the payload retrieval apparatus 1900, such that most ofthe length of the tether extending between the UAV and the payloadretrieval apparatus 1900 is at substantial angle, the end portion of thetether that extends from the channel 1940 will maintain a substantiallyvertical orientation. With this end portion of the tether in asubstantially vertical orientation, the tension on the tether as it isretracted can effectively pull the payload coupling apparatus throughthe payload coupling apparatus channel 1940.

Similar to tether engager 1930, tether engager 1932 also includes anupper guide member 1934 with a similar configuration that is operable tomaintain an end portion of the tether in a substantially verticalorientation.

In addition to helping maintain the orientation of the tether, the upperguide members 1933, 1934 may also provide structural support to therespective tether engagers. For example, because of the inclusion ofupper guide member 1933 in tether engager 1930, the tether engager 1930is secured to upwardly extending member 1910 at two independent points.The primary member of tether engager 1930 is secured to the upwardlyextending member 1910 at a lower position and the upper guide member1932 is secured to the upwardly extending member 1910 at an upperposition. Furthermore, a triangular frame is formed between the upwardlyextending member 1910, the primary member of tether engager 1930, andthe upper guide member 1932, which provides a strong support structurefor tether engager 1930.

While tether engager 1930, as shown in FIGS. 36-40D, is formed as aframe, such that upper guide member 1933 is formed as a second pole orrod that extends at an angle from the primary member (or pole) of tetherengager 1930, other configurations are possible. For example, in someembodiments, the tether engager may be formed by a similarly shapedstructure with a continuous surface for guiding the tether. In such anembodiment, a lower edge of the tether engager may provide a lowerguide, while an upper edge of the tether engager may form the upperguide member that maintains the substantially vertical orientation ofthe tether, as described above.

FIG. 39 illustrates that payload retrieval apparatus 1900 mayadvantageously be sized to span only a single parking space 1937.

FIGS. 41A-C show various views of payload retrieval apparatus 1950.Payload retrieval apparatus 1950 operates in a manner similar to payloadretrieval apparatus 1900. Payload retrieval apparatus 1950 includes base1954, upwardly extending member 1960, and a payload coupling apparatuschannel 1990. Payload retrieval apparatus 1950 also includes tetherengagers 1980 and 1982 which are used to engage a tether attached to apayload coupling apparatus, whereafter the payload coupling apparatus isdrawn into and through the payload coupling apparatus channel 1990 topick up payload 1985. Payload coupling apparatus channel 1990 mayinclude a guiding member with a tether slot which the payload couplingapparatus rides beneath until it is drawn into a curved portion of thepayload coupling apparatus channel 1990 attached to the guiding member.Payload retrieval apparatus 1950 is shown with a shield 1992 which helpsto prevent the payload coupling apparatus from getting tangled with theframe of the payload retrieval apparatus 1950. Payload retrievalapparatus 1950 provides for automated pickup of payload 1985, and mayoperate in the same manner as payload retrieval apparatuses 1000 and1480 described above.

To achieve a passive solution for automatic loading of packages (i.e.,no power) a UAV may be configured to perform a lateral maneuver afterdeploying the tether to engage the tether with an autoloader device,such as any of the previously described payload retrieval apparatuses.Additionally, building the autoloader device to accommodate the nominalnavigation accuracy of a UAV system when outside the nest may result inan impractically large footprint. For this reason, in some examples, theautoloader device may be outfitted with a fiducial marker with a knownposition relative to the apparatus itself to enable navigation of theUAV relative to the autoloader device. Another source of potentialpickup mechanism position uncertainty is wind. This can cause up toseveral meters of deflection when the tether is fully deployed from aheight of 6.8 meters in high winds. Examples described herein thereforemay also compensate for wind in order to hit footprint targets for anautoloader apparatus.

In some examples described herein, a UAV may initially descend forpickup and scan for fiducials associated with an autoloader device ofinterest as encoded in a pickup waypoint. Once observed, the UAV maymaneuver itself to be directly over a payout position, plus any lateraloffset to compensate for wind. At 6.8 meters over the payout position,the UAV may deploy the tether. Once the tether is fully deployed, thevehicle may maneuver laterally to a winch up position. At this point,the vehicle may optionally remove its windage offset. Once in winch upposition, the UAV may retract the tether. Once sufficiently retracted,the UAV may ascend and de-nudge, rejoining the cruise segment at thenominal pickup waypoint position.

FIG. 42 illustrates an autoloader device and a UAV side-step trajectory,in accordance with examples described herein. More specifically, a UAV4200 may be equipped with a deployable tether 4202 for payload pickup.The tether 4202 may have a pickup component 4204 in order to enable theUAV 4200 to pickup a payload. In examples described here, this pickupmay be achieved without human user assistance with help of an autoloaderdevice 4210. Example distance measurements are provided for illustrationpurposes.

The autoloader device 4210 may have an approach side 4212 from which theUAV 4200 may approach in order to engage a payload held by theautoloader device 4210 using the tether 4202 and the pickup component4204. In order to engage the autoloader device 4210, the UAV 4200 may becontrolled to move through a side-step trajectory 4230. The side-steptrajectory 4230 may start with the UAV 4200 positioned to deploy thetether 4202 and the pickup component 4204 to the payout position 4232located on a ground surface. The UAV 4200 may then be controlled tofollow a lateral movement through side-step trajectory 4230 to reach aposition above end position 4234. While moving through the side-steptrajectory 4230, the tether 4202 and pickup component 4204 may engagewith the autoloader device 4210 in order to pick up a payload held bythe autoloader device 4210. In some examples, the pickup logic alsoincludes handlings of pickup component 4204 being wrapped around theautoloader device 4210 or just stuck in general during the side-stepmaneuver. In these circumstances, slack may be provided and the winchmay be retried one or more times. If the pickup component 4204 is stillnot freed, the pickup component 4204 may be abandoned and disconnectedfrom the UAV.

FIG. 43 illustrates an autoloader device and a sequence of UAVtrajectories, in accordance with examples described herein. Morespecifically, the guidance offset during pickup follows a trajectorywith three main segments. Each segment may have specific entry and exitposition values, as well as associated slew rates. The slew rates limitthe rate at which the UAV can change horizontal position to allow theUAV to gracefully move between positions. Example distance measurementsare provided for illustration purposes.

Starting from starting position 4260, the UAV 4200 may follow a descenttrajectory 4220 to a first nudged position 4222. Determination of thefirst nudged position 4222 may be based on detection of a fiducialmarker 4250. The fiducial marker 4250 may be oriented in a directiontowards autoloader device 4210. The UAV 4200 may be controlled todescend over a payout position 4232, which may be a predetermined offset(e.g., 0.5 meters) to the approach side of the autoloader device 4210.In some examples, initial deployment may use a vector fixed in the“autoloader frame”. In some examples, an additional wind-driven offsetmay be generated to accommodate pill-swing between the first nudgedposition 4222 and the payout position 4232 under locally-observed windconditions.

After reaching first nudged position 4222, the UAV 4200 may deploy thetether 4202 and pickup component 4204. The marker-relative guidanceoffset may then be controlled to fade at a specific slew rate from theapproach side to the load side of the autoloader device 4210. Startingfrom first nudged position 4222, the UAV 4200 may follow a side-steptrajectory 4230 as previously described in order to cause the tether4202 and pickup component 4204 to pick up a payload from the autoloaderdevice 4210. The vertical guidance may be controlled to remain at afixed position during this time. The side-step trajectory 4230 may endat a second nudged position 4242. The second nudged position 4242 may beat a predetermined offset (e.g., 3.75 meters) past the load side of theautoloader device 4210.

When the side-step trajectory 4230 is complete, the UAV 4200 may retractthe tether 4202 and pickup component 4204. In some examples, the UAV4200 may linger for a few seconds to allow the pickup component 4204 tosettle before retracting the tether 4202. After the tether 4202 is fullyretracted or a predetermined timeout window has passed, the UAV 4200 maythen be controlled to follow ascent trajectory 4240 from the secondnudged position 4242 back to the starting position 4260, or to anotherconvenient exit position. The ascent trajectory 4240 will fade theside-step value of the guidance offset to zero, thereby effectivelyreversing the change in lateral position resulting from the first nudgedposition 4222 and the second nudged position 4242. After returning tostarting position 4260, the UAV 4200 may then continue navigation fromthe same previously traversed starting position 4260, but now with apayload picked up from the autoloader device 4210.

In some examples, the ascent trajectory 4240 can cause the payloadpickup. The tether may then be retracted afterwards. This gives theadded benefit of a cleaner retract without a pill computer interactionand thus a potentially better weight estimate.

FIG. 44 illustrates a UAV mission profile and tolerances, in accordancewith examples described herein. More specifically, potential regions fora UAV and/or UAV components relative to autoloader device 4210 areillustrated based on expected error tolerances. A first region 4402illustrates potential UAV locations in view of potentiallocalization/navigation errors. A second region 4404 illustratespotential tether locations after payout in view of wind conditions. Athird region 4406 illustrates potential pickup component positions inview of the potential tether locations. A fourth region 4408 illustratespossible tether locations before pickup. Potential error tolerancesrepresented by each region may be considered collectively to determinean appropriate UAV trajectory to ensure successful pickup from theautoloader device 4210. Notably determining the exact positioning of thesecond nudged position is not trivial and may need to account forpackage attachment success, package swing, wind compensation, and/orpositional error.

Some systems may generally assume that a pickup component will hangdirectly below the UAV, which becomes an inaccurate assumption in thepresence of winds as illustrated by FIG. 44 . While some amount ofpickup component movement can be absorbed into the noise level of thesystem, at the high end of the wind operating envelope, the amount ofuncertainty from pickup component swing may be too large to absorb.Accordingly, it may be necessary to characterize wind speed and/ordirection to make necessary accommodations.

Wind speed and/or direction may be determined based on and/or using apitot tube, an anemometer, GPS, measured UAV air velocity, and/ormeasured UAV ground velocity, among other possibilities. For example,the UAV may be equipped with one or more pitot tubes, and/or one or moreanemometers, each of which may be configured to generate sensor dataindicative of a wind speed along one or more directions.

In another example, the wind speed and/or direction may be determined bycomparing an air velocity of the UAV to a ground velocity of the UAV.The air velocity of the UAV (i.e., how quickly, and in what direction,the UAV is moving relative to the air) may be determined based on, forexample, an amount of propulsion exerted by rotors of the UAV and/or airspeed sensors on the UAV. Visual odometry and/or GPS data may be used todetermine a ground velocity of the UAV (i.e., how quickly, and in whatdirection, the UAV is moving relative to the ground). The air velocitymay be compared to the ground velocity to determine a wind velocitypresent in the environment of the UAV. For example, when a forwardground speed exceeds a forward air speed (i.e., the UAV is flying with atail wind), a magnitude of the difference may indicate a wind speed inthe forward direction. When a sideways ground speed exceeds a sidewaysair speed (i.e., the UAV is facing a cross wind), a magnitude of thedifference may indicate a wind speed in the sideways direction.

In some implementations, the wind speed and/or direction may bedetermined by a model based on a plurality of different windmeasurements obtained from a plurality of different sources. Forexample, the model may be configured to generate a final wind speedand/or direction measurement based on a combination of (i) sensor datagenerated by one or more wind sensors (e.g., pitot tubes) on the UAV and(ii) an estimate of the wind speed and/or direction determined based oncomparing the air velocity of the UAV to the ground velocity of the UAV.The combination may be implemented using, for example, a weightedaverage, and/or a Kalman filter, among other possibilities

The measured wind speed and/or direction may be used to determine aposition of a tethered pickup component of the UAV relative to aposition of the UAV. Specifically, due to the tether being flexible, thepickup component may be displaced by the wind laterally relative to theUAV. Thus, when the pickup component is targeted to be positioned at aparticular lateral location in the environment, a lateral position ofthe UAV may be adjusted accordingly to compensate for the wind-inducedhorizontal displacement of the pickup component relative to the UAV.Further, while a given length of the tether is deployed, the lateraldisplacement of the pickup component may also be associated with avertical displacement of the pickup component due to the given tetherlength now having a horizontal component and a vertical component. Thus,when the pickup component is targeted to be positioned at a particularvertical location, a deployed length of the tether may be adjustedaccordingly to compensate for the wind-induced vertical displacement ofthe pickup component relative to the UAV. Accordingly, nudge positionsof the UAV may be based on the wind-induced displacements of the pickupcomponent relative to the UAV, such that the nudge positions cause thepickup component to engage with the autoloader device.

The wind-induced displacements of the pickup component relative to theUAV may be determined using a mathematical model of the tether andpickup component. For example, the mathematical model may be expressedas O_(x)=k_(x)V_(WIND x) ² and O_(z)=k_(z)V_(WIND z) ², where Orepresents the offset of the pickup component, k represents amodel-based constant, V represents the wind speed, x denotes the lateraldirection (i.e., forward, backward, leftward, or rightward), and zdenotes the vertical direction (i.e., up or down). Thus, thewind-induced displacements of the pickup component relative to the UAVmay be modeled as a product of a model-based constant and a quadraticwind velocity term.

The value of the model-based constant k may be determined using aphysics-based model of the tether and pickup component. For example, thepickup component may be modeled as a point mass with a correspondingdrag coefficient. Similarly, the tether may be assumed to be perfectlyflexible and have a uniform mass per unit length, and may be modeled asa series of point masses, each of which has a corresponding mass anddrag coefficient based on a diameter of the tether. For each point mass,an angle of the point mass relative to the UAV may be individuallydetermined based on the mass thereof, the distance thereof relative tothe UAV, and the drag coefficient thereof. A total deflection profile ofthe entire tether and pickup component may be determined by taking anintegral of the angle of each point mass along the length of the tether.

FIG. 45 illustrates a plurality of different deflection profiles of thetether and pickup component corresponding to a plurality of differentwind speeds. Specifically, FIG. 45 illustrates twenty one differentdeflection profiles corresponding to wind speeds ranging from 0 knots(rightmost profile) to 20 knots (leftmost profile) in 1 knot increments.Location (0,0) at the top of FIG. 45 represents the point on the UAVfrom which the tether is deployed. As can be seen from FIG. 45 , windcauses both a lateral and a vertical displacement of the pickupcomponent relative to the UAV, with the vertical displacement becomingmore pronounced at larger lateral displacements.

The value of the model-based constant k may be determined by fitting themodel to represent the position of the pickup component (i.e., the endof each deflection profile) across different wind velocities.Specifically, the lateral offset constant k x may be determined byfitting the function O_(x)=k_(x)V_(WIND x) ² to the lateral displacementof the pickup component, as shown by the horizontal axis of FIG. 45 .The vertical offset constant k y may be determined by fitting thefunction O_(y)=k_(y)V_(WIND y) ² to the vertical displacement of thepickup component, as shown by the vertical axis of FIG. 45 .

FIG. 46 illustrates the vertical and lateral offsets of the pickupcomponent, as modeled by the expressions O_(x)=k_(x)V_(WIND x) ² andO_(z)=k_(z)V_(WIND z) ², for different wind speeds. Specifically, thetopmost curve in FIG. 46 represents a horizontal offset of the pickupcomponent as a function of wind speed. The bottommost curve in FIG. 46represents a vertical offset of the pickup component as a function ofwind speed. The middle curve in FIG. 46 represents an estimatedhorizontal offset of the pickup component when wind drag on the pickupcomponent is considered, but wind drag on the tether is ignored.Accordingly, as can be seen from the difference between the middle curveand the top curve, a non-negligible component of the horizontal offsetof the pickup component is caused by wind drag on the tether. Thus,modeling both the wind drag on the pickup component and the tetherallows for a more accurate determination of the wind-induceddisplacement of the pickup component relative to the UAV.

In some embodiments, the position of the UAV may be adjusted tocompensate for the wind-induced displacements of the pickup componentrelative to the UAV starting from, for example, a first time at whichthe autoloader device is detected and ending at a second time when thepickup component is engaged with the autoloader device. For example,once the pickup component enters a channel of the autoloader device,where the pickup component is no longer affected by wind, windcompensation may end, and the UAV may adjust its position accordingly.For example, the UAV may return to a non-compensated position that theUAV would have been in under windless environmental conditions. Thisreturn to the non-compensated position may align the UAV with theautoloader device such that, for example, the UAV is able to pull thepickup component through a channel of the autoloader device, applying aforce in approximately a direction of the channel.

In some cases, adjustments to the position of the UAV that compensatefor wind could cause unwanted swings of the payload after the pickupcomponent engages with and picks up a payload from the autoloaderdevice. For example, if the UAV is caused to adjust its position forwarddue to a headwind (which causes the pickup component to swing towardsthe back of the UAV), the payload could, due to the UAV being farforward relative to the autoloader device, swing forward once it ispicked up from the autoloader device. Accordingly, prior to causing thepickup component to engaged the payload, the UAV may be caused to atleast partly move back towards the non-compensated position, therebyreducing and/or minimizing a lateral displacement between the UAV andthe pickup component, and thus reducing or minimizing payloadoscillations after pickup.

FIG. 47 is a block diagram of a method 4700, in accordance with examplesdescribed herein. The blocks of FIG. 47 may be carried out, for example,by a UAV and/or by a control system of a UAV. At block 4702, the method4700 includes determining, by an unmanned aerial vehicle (UAV), aposition of an autoloader device for the UAV. At block 4704, the method4700 includes based on the determined position of the autoloader device,causing the UAV to follow a descent trajectory in which the UAV movesfrom a starting position to a first nudged position in order to deploy atethered pickup component of the UAV to a payout position on an approachside of the autoloader device. At block 4706, the method 4700 includesdeploying the tethered pickup component of the UAV to the payoutposition. At block 4708, the method 4700 includes causing the UAV tofollow a side-step trajectory in which the UAV moves laterally to asecond nudged position in order to cause the tethered pickup componentof the UAV to engage the autoloader device. At block 4710, the method4700 includes retracting the tethered pickup component of the UAV topick up a payload from the autoloader device.

In some examples, the method 4700 includes causing the UAV to follow anascent trajectory in which the UAV moves from the second nudged positionback to the starting position or another convenient exit position.

In some examples, determining the position of the autoloader device isbased on detecting a fiducial positioned at a predetermined positionrelative to the autoloader device. In some examples, the fiducial isfixed on the ground and oriented in a direction toward the autoloaderdevice. In some examples, the fiducial is fixed on the autoloaderdevice.

In some examples, the position of the autoloader device can bedetermined beforehand by a survey and sent to the UAV. In such examples,the UAV may not need to sense the autoloader when doing the pickup.

In further examples, determining the position of the autoloader deviceis based on applying a machine learned model to one or more images or atime series of images of the autoloader device captured by a camera onthe UAV. In additional examples, determining the position of theautoloader device is based on applying a point cloud matching algorithmto a depth image captured by a depth camera or a lidar sensor or anultrasonic sensor or any other range-finding sensor on the UAV. Infurther examples, determining the position of the autoloader device isbased on detecting a light pattern from a beacon on the autoloaderdevice. In additional examples, determining the position of theautoloader device is based on detecting radio signals emitted by theautoloader device. In further examples, determining the position of theautoloader device is based on detecting one or more retro-reflectivesurfaces of the autoloader device using an infrared sensor andilluminator on the UAV. In additional examples, determining the positionof the autoloader device is based on detecting a plurality ofretro-reflective points of the autoloader device using an infraredsensor and illuminator on the UAV.

In some examples, each of the descent trajectory, the side-steptrajectory, and the ascent trajectory has a respective slew rate.

In some examples, the first nudged position is directly above the payoutposition. In further examples, the first nudged position is positionedrelative to the payout position based on a wind model.

In some examples, the first nudged position is at a predeterminedaltitude above ground level. In additional examples, the first nudgedposition is at a predetermined level of the autoloader device, asdetermined by a depth estimate or one or more loader-mounted fiducials.Using autoloader level may allow for variable height autoloaders. Infurther examples, the first nudged position is at an altitude which isdetermined based on a wind model. In additional examples, the tetheredpickup component of the UAV is deployed by a payout length determinedbased on a wind model.

In some examples, each of the first nudged position and the secondnudged position is based on respective predetermined lateral offsets.

In some examples, causing the UAV to follow the ascent trajectory isperformed after fully retracting the tethered pickup component or aftera predetermined amount of time.

FIG. 48 illustrates wind nudge maneuvers, in accordance with examplesdescribed herein. More specifically, different UAV position adjustmentsto compensate for wind-induced displacements of the pickup componentrelative to the UAV are illustrated. Starting first with the leftmostfigure, a situation in which no substantial wind is present isillustrated. At position 1 (a first nudged position), the UAV is able todeploy the tether directly below the UAV. The tether and pickupcomponent may therefore be aligned with the autoloader device. The UAVmay then navigate to position 2 (the second nudged position) whilecapturing the tether between the poles of the autoloader device. Atposition 3, the UAV may then retract the tether to winch up the packageand complete the pickup. In this illustrated example, position 2 andposition 3 are the same because no wind is present for which toaccommodate.

Next, considering the middle figure, a situation in which a horizontalwind in only the X-direction is present is illustrated. In this case,position 1 (the first nudged position) is offset to the left so that thepayout position of the pickup component is the same as if no wind werepresent. The UAV then navigates to position 2 (the second nudgedposition), which is similarly offset to the left. Position 2 allows forcapturing of the tether between the poles of the autoloader device inthe presence of wind. Once the pickup component enters a channel of theautoloader device, where the pickup component is no longer affected bywind, wind compensation may end. Accordingly, the UAV may navigate toposition 3 to winch up the package. This return to a non-compensatedposition may align the UAV with the autoloader device such that, forexample, the UAV is able to pull the pickup component through a channelof the autoloader device, applying a force in approximately a directionof the channel.

Next, considering the rightmost figure, a situation in which ahorizontal wind in both the X-direction and the Y-direction is presentis illustrated. In this case, position 1 (the first nudged position) isoffset to both down and to the right so that the payout position of thepickup component is the same as if no wind were present. The UAV thennavigates to position 2 (the second nudged position), which is similarlyoffset down and to the right. Position 2 allows for capturing of thetether between the poles of the autoloader device in the presence ofwind. Once the pickup component enters a channel of the autoloaderdevice, the UAV may navigate to the same position 3 as in the leftmostand center figures to winch up the package.

FIG. 49 illustrates vertical wind nudge maneuvers, in accordance withexamples described herein. More specifically, in addition to horizontalmovements in the X and/or Y-direction to accommodate wind, verticalposition adjustments of the UAV may also be made as well or instead.More specifically, as shown in the left portion of the figure, thepayout position of the pickup component (the pill) may be raised due towind changing the profile of the tether. Therefore, as shown in theright portion of the figure, the UAV position may be lowered at thefirst nudged position in order to compensate for the raised pill toensure that the pill is captured by the autoloader. Similar to thehorizontal offset illustrated and described with respect to FIG. 48 ,the vertical offset may also be sufficient to position the pickupcomponent at the same altitude as it would have been at if no wind werepresent.

The particular arrangements shown in the Figures should not be viewed aslimiting. It should be understood that other implementations may includemore or less of each element shown in a given Figure. Further, some ofthe illustrated elements may be combined or omitted. Yet further, anexemplary implementation may include elements that are not illustratedin the Figures.

Additionally, while various aspects and implementations have beendisclosed herein, other aspects and implementations will be apparent tothose skilled in the art. The various aspects and implementationsdisclosed herein are for purposes of illustration and are not intendedto be limiting, with the true scope and spirit being indicated by thefollowing claims. Other implementations may be utilized, and otherchanges may be made, without departing from the spirit or scope of thesubject matter presented herein. It will be readily understood that theaspects of the present disclosure, as generally described herein, andillustrated in the figures, can be arranged, substituted, combined,separated, and designed in a wide variety of different configurations,all of which are contemplated herein.

What is claimed is:
 1. A method comprising: determining, by an unmannedaerial vehicle (UAV), a position of an autoloader device for the UAV;based on the determined position of the autoloader device, causing theUAV to follow a descent trajectory in which the UAV moves from astarting position to a first nudged position in order to deploy atethered pickup component of the UAV to a payout position on an approachside of the autoloader device; deploying the tethered pickup componentof the UAV to the payout position; causing the UAV to follow a side-steptrajectory in which the UAV moves laterally to a second nudged positionin order to cause the tethered pickup component of the UAV to engage theautoloader device; and retracting the tethered pickup component of theUAV to pick up a payload from the autoloader device.
 2. The method ofclaim 1, further comprising causing the UAV to follow an ascenttrajectory in which the UAV moves from the second nudged position backto the starting position.
 3. The method of claim 1, further comprisingafter causing the UAV to follow the side-step trajectory and beforeretracting the tethered pickup component, causing the UAV to linger inplace to allow the tether pickup component to settle.
 4. The method ofclaim 1, wherein determining the position of the autoloader device isbased on predetermined position information from a prior survey which issent to the UAV.
 5. The method of claim 1, wherein determining theposition of the autoloader device is based on detecting a fiducialpositioned at a predetermined position relative to the autoloaderdevice.
 6. The method of claim 5, wherein the fiducial is fixed on theground and oriented in a direction toward the autoloader device.
 7. Themethod of claim 5, wherein the fiducial is fixed on the autoloaderdevice.
 8. The method of claim 1, wherein determining the position ofthe autoloader device is based on applying a machine learned model toone or more images of the autoloader device captured by a camera on theUAV.
 9. The method of claim 1, wherein determining the position of theautoloader device is based on applying a point cloud matching algorithmto a depth image captured by one of a depth camera, a lidar sensor, oran ultrasonic sensor on the UAV.
 10. The method of claim 1, whereindetermining the position of the autoloader device is based on detectinga light pattern from a beacon on the autoloader device.
 11. The methodof claim 1, wherein determining the position of the autoloader device isbased on detecting radio signals emitted by the autoloader device. 12.The method of claim 1, wherein determining the position of theautoloader device is based on detecting one or more retro-reflectivesurfaces of the autoloader device using an infrared sensor andilluminator on the UAV.
 13. The method of claim 1, wherein determiningthe position of the autoloader device is based on detecting a pluralityof retro-reflective points of the autoloader device using an infraredsensor and illuminator on the UAV.
 14. The method of claim 1, whereineach of the descent trajectory, the side-step trajectory, and the ascenttrajectory has a respective slew rate.
 15. The method of claim 1,wherein the first nudged position is directly above the payout position.16. The method of claim 1, wherein the first nudged position ispositioned relative to the payout position based on a wind model. 17.The method of claim 1, wherein the first nudged position is at one of apredetermined altitude above ground level or a level of the autoloaderdevice.
 18. The method of claim 1, wherein the first nudged position isat an altitude which is determined based on a wind model.
 19. The methodof claim 1, wherein the tethered pickup component of the UAV is deployedby a payout length determined based on a wind model.
 20. The method ofclaim 1, wherein each of the first nudged position and the second nudgedposition is based on respective predetermined lateral offsets.
 21. Themethod of claim 1, further comprising causing the UAV to follow anascent trajectory after fully retracting the tethered pickup componentor after a predetermined amount of time.
 22. The method of claim 1,further comprising causing the UAV to follow an ascent trajectory toinitially pick up the payload before retracting the tethered pickupcomponent.
 23. The method of claim 1, further comprising: during theside-step trajectory, determining that the tethered pickup component iswrapped around the autoloader device or otherwise stuck; providing slackto retry winching the tethered pickup component one or more times; andif the tethered pickup component is not freed, disconnect the tetheredpickup component from the UAV.
 24. An unmanned aerial vehicle (UAV),comprising: a tethered pickup component; and a control system configuredto perform operations comprising: determining a position of anautoloader device for the UAV; based on the determined position of theautoloader device, causing the UAV to follow a descent trajectory inwhich the UAV moves from a starting position to a first nudged positionin order to deploy the tethered pickup component of the UAV to a payoutposition on an approach side of the autoloader device; deploying thetethered pickup component of the UAV to the payout position; causing theUAV to follow a side-step trajectory in which the UAV moves laterally toa second nudged position in order to cause the tethered pickup componentof the UAV to engage the autoloader device; and retracting the tetheredpickup component of the UAV to pick up a payload from the autoloaderdevice.
 25. A non-transitory computer readable medium comprising programinstructions executable by one or more processors to cause the one ormore processors to perform operations comprising: determining a positionof an autoloader device for an unmanned aerial vehicle (UAV); based onthe determined position of the autoloader device, causing the UAV tofollow a descent trajectory in which the UAV moves from a startingposition to a first nudged position in order to deploy a tethered pickupcomponent of the UAV to a payout position on an approach side of theautoloader device; deploying the tethered pickup component of the UAV tothe payout position; causing the UAV to follow a side-step trajectory inwhich the UAV moves laterally to a second nudged position in order tocause the tethered pickup component of the UAV to engage the autoloaderdevice; and retracting the tethered pickup component of the UAV to pickup a payload from the autoloader device.